mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 14:10:11 +00:00
27227e5e4a
add example description for all examples (with word-wrap) add the VoronoiFractureDemo, note that the collision are disabled after breaking constraints. add optional GwenOpenGLTest, to make it easier to see Gwen user interface features.
289 lines
9.3 KiB
C++
289 lines
9.3 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2014 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btConvexConvexMprAlgorithm.h"
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//#include <stdio.h>
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#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BulletCollision/CollisionShapes/btConvexShape.h"
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#include "BulletCollision/CollisionShapes/btTriangleShape.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
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#include "BulletCollision/CollisionShapes/btBoxShape.h"
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#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
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#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
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#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
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#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
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#include "BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkEpa3.h"
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#include "BulletCollision/NarrowPhaseCollision/btMprPenetration.h"
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//this is just an internal debug variable to switch between GJK+MPR or GJK+EPA
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bool gUseMprCollisionFunction = true;
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btConvexConvexMprAlgorithm::CreateFunc::CreateFunc()
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{
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}
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btConvexConvexMprAlgorithm::CreateFunc::~CreateFunc()
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{
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}
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btConvexConvexMprAlgorithm::btConvexConvexMprAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
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: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
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m_ownManifold (false),
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m_manifoldPtr(mf)
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{
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(void)body0Wrap;
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(void)body1Wrap;
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}
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btConvexConvexMprAlgorithm::~btConvexConvexMprAlgorithm()
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{
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if (m_ownManifold)
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{
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if (m_manifoldPtr)
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m_dispatcher->releaseManifold(m_manifoldPtr);
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}
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}
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btVector3 btBulletShapeSupportFunc(const void* shapeAptr, const btVector3& dir, bool includeMargin)
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{
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btConvexShape* shape = (btConvexShape*) shapeAptr;
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if (includeMargin)
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{
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return shape->localGetSupportingVertex(dir);
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}
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return shape->localGetSupportingVertexWithoutMargin(dir);
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}
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btVector3 btBulletShapeCenterFunc(const void* shapeAptr)
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{
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return btVector3(0,0,0);
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}
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struct btMprConvexWrap
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{
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const btConvexShape* m_convex;
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btTransform m_worldTrans;
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inline btScalar getMargin() const
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{
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return m_convex->getMargin();
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}
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inline btVector3 getObjectCenterInWorld() const
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{
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return m_worldTrans.getOrigin();
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}
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inline const btTransform& getWorldTransform() const
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{
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return m_worldTrans;
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}
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inline btVector3 getLocalSupportWithMargin(const btVector3& dir) const
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{
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return m_convex->localGetSupportingVertex(dir);
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}
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inline btVector3 getLocalSupportWithoutMargin(const btVector3& dir) const
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{
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return m_convex->localGetSupportingVertexWithoutMargin(dir);
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}
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};
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struct btMyDistanceInfo
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{
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btVector3 m_pointOnA;
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btVector3 m_pointOnB;
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btVector3 m_normalBtoA;
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btScalar m_distance;
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};
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//
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// Convex-Convex collision algorithm
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//
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void btConvexConvexMprAlgorithm ::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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if (!m_manifoldPtr)
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{
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//swapped?
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m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
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m_ownManifold = true;
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}
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resultOut->setPersistentManifold(m_manifoldPtr);
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//comment-out next line to test multi-contact generation
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//resultOut->getPersistentManifold()->clearManifold();
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const btConvexShape* min0 = static_cast<const btConvexShape*>(body0Wrap->getCollisionShape());
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const btConvexShape* min1 = static_cast<const btConvexShape*>(body1Wrap->getCollisionShape());
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btVector3 normalOnB;
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btVector3 pointOnBWorld;
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btGjkPairDetector::ClosestPointInput input;
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btVoronoiSimplexSolver vs;
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btGjkEpaPenetrationDepthSolver epa;
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if (gUseMprCollisionFunction)
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{
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btMprConvexWrap a,b;
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a.m_worldTrans = body0Wrap->getWorldTransform();
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b.m_worldTrans = body1Wrap->getWorldTransform();
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a.m_convex = (const btConvexShape*)body0Wrap->getCollisionShape();
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b.m_convex = (const btConvexShape*)body1Wrap->getCollisionShape();
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btVoronoiSimplexSolver simplexSolver;
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simplexSolver.reset();
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btGjkCollisionDescription colDesc;
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btMyDistanceInfo distInfo;
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int res = btComputeGjkDistance(a,b,colDesc,&distInfo);
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if (res==0)
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{
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//printf("use GJK results in distance %f\n",distInfo.m_distance);
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} else
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{
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btMprCollisionDescription mprDesc;
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res = btComputeMprPenetration(a,b,mprDesc, &distInfo);
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//printf("use MPR results in distance %f\n",distInfo.m_distance);
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}
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if (res == 0)
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{
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#if 0
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printf("Dist=%f,normalOnB[%f,%f,%f],pA=[%f,%f,%f],pB[%f,%f,%f]\n",
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distInfo.m_distance, distInfo.m_normalBtoA[0], distInfo.m_normalBtoA[1], distInfo.m_normalBtoA[2],
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distInfo.m_pointOnA[0], distInfo.m_pointOnA[1], distInfo.m_pointOnA[2],
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distInfo.m_pointOnB[0], distInfo.m_pointOnB[1], distInfo.m_pointOnB[2]);
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#endif
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if (distInfo.m_distance<=0)
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{
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resultOut->addContactPoint(distInfo.m_normalBtoA, distInfo.m_pointOnB, distInfo.m_distance);
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}
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//ASSERT_EQ(0,result);
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//ASSERT_NEAR(btFabs(btScalar(i-z))-btScalar(j)-ssd.m_radiusB, distInfo.m_distance, abs_error);
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//btVector3 computedA = distInfo.m_pointOnB+distInfo.m_distance*distInfo.m_normalBtoA;
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//ASSERT_NEAR(computedA.x(),distInfo.m_pointOnA.x(),abs_error);
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//ASSERT_NEAR(computedA.y(),distInfo.m_pointOnA.y(),abs_error);
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//ASSERT_NEAR(computedA.z(),distInfo.m_pointOnA.z(),abs_error);
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}
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#if 0
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btCollisionDescription colDesc;
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colDesc.m_objA = min0;
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colDesc.m_objB = min1;
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colDesc.m_localSupportFuncA = &btBulletShapeSupportFunc;
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colDesc.m_localSupportFuncB = &btBulletShapeSupportFunc;
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colDesc.m_localOriginFuncA = &btBulletShapeCenterFunc;
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colDesc.m_localOriginFuncB = &btBulletShapeCenterFunc;
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colDesc.m_transformA = body0Wrap->getWorldTransform();
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colDesc.m_transformB = body1Wrap->getWorldTransform();
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colDesc.m_marginA = body0Wrap->getCollisionShape()->getMargin();
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colDesc.m_marginB = body1Wrap->getCollisionShape()->getMargin();
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btDistanceInfo distInfo;
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//int result = btComputeGjkEpaPenetration(colDesc, &distInfo);
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//int result = btComputeGjkEpaPenetration2(colDesc, &distInfo);
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int result = btComputeMprPenetration(colDesc, &distInfo);
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if (result==0)
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{
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resultOut->addContactPoint(distInfo.m_normalBtoA,distInfo.m_pointOnB,distInfo.m_distance);
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}
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//bool res = b3MprPenetration(pairIndex,bodyIndexA,bodyIndexB,cpuBodyBuf,convexData,collidable2,cpuVertices,sepAxis,hasSepAxis,depthOut,dirOut,posOut);
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/*btCollisionDescription colDesc;
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btDistanceInfo distInfo;
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int btComputeGjkEpaPenetration(min0, min1, &colDesc, &distInfo);
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*/
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#endif
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} else
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{
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btGjkPairDetector gjkPairDetector(min0,min1,&vs,&epa);//m_simplexSolver,m_pdSolver);
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//TODO: if (dispatchInfo.m_useContinuous)
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gjkPairDetector.setMinkowskiA(min0);
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gjkPairDetector.setMinkowskiB(min1);
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{
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//if (dispatchInfo.m_convexMaxDistanceUseCPT)
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//{
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// input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactProcessingThreshold();
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//} else
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//{
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input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
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// }
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input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
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}
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input.m_transformA = body0Wrap->getWorldTransform();
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input.m_transformB = body1Wrap->getWorldTransform();
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gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
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}
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if (m_ownManifold)
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{
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resultOut->refreshContactPoints();
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}
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}
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btScalar btConvexConvexMprAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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(void)resultOut;
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(void)dispatchInfo;
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btAssert(0);
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return 0;
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}
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