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Viewing changes to extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp

  • Committer: Bazaar Package Importer
  • Author(s): Chris Coulson
  • Date: 2009-08-06 22:32:19 UTC
  • mfrom: (1.2.10 upstream)
  • Revision ID: james.westby@ubuntu.com-20090806223219-8z4eej1u8levu4pz
Tags: 2.49a+dfsg-0ubuntu1
https://launchpad.net/bugs/382153
* Merge from debian unstable, remaining changes:
  - debian/control: Build-depend on python-2.6 rather than python-2.5.
  - debian/misc/*.desktop: Add Spanish translation to .desktop 
    files.
  - debian/pyversions: 2.6.
  - debian/rules: Clean *.o of source/blender/python/api2_2x/
* New upstream release (LP: #382153).
* Refreshed patches:
  - 01_sanitize_sys.patch
  - 02_tmp_in_HOME
  - 10_use_systemwide_ftgl
  - 70_portability_platform_detection
* Removed patches merged upstream:
  - 30_fix_python_syntax_warning
  - 90_ubuntu_ffmpeg_52_changes

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extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
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#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
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#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
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#if defined(DEBUG) || defined (_DEBUG)
 
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//#define TEST_NON_VIRTUAL 1
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#include <stdio.h> //for debug printf
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#ifdef __SPU__
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#include <spu_printf.h>
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#define printf spu_printf
 
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//#define DEBUG_SPU_COLLISION_DETECTION 1
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#endif //__SPU__
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#endif
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void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults)
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{
 
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        m_cachedSeparatingDistance = 0.f;
 
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        btScalar distance=btScalar(0.);
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        btVector3       normalInB(btScalar(0.),btScalar(0.),btScalar(0.));
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        btVector3 pointOnA,pointOnB;
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        localTransA.getOrigin() -= positionOffset;
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        localTransB.getOrigin() -= positionOffset;
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#ifdef __SPU__
 
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        btScalar marginA = m_minkowskiA->getMarginNonVirtual();
 
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        btScalar marginB = m_minkowskiB->getMarginNonVirtual();
 
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#else
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        btScalar marginA = m_minkowskiA->getMargin();
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        btScalar marginB = m_minkowskiB->getMargin();
 
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#ifdef TEST_NON_VIRTUAL
 
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        btScalar marginAv = m_minkowskiA->getMarginNonVirtual();
 
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        btScalar marginBv = m_minkowskiB->getMarginNonVirtual();
 
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        btAssert(marginA == marginAv);
 
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        btAssert(marginB == marginBv);
 
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#endif //TEST_NON_VIRTUAL
 
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#endif
 
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        gNumGjkChecks++;
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#ifdef DEBUG_SPU_COLLISION_DETECTION
 
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        spu_printf("inside gjk\n");
 
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#endif
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        //for CCD we don't use margins
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        if (m_ignoreMargin)
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        {
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                marginA = btScalar(0.);
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                marginB = btScalar(0.);
 
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#ifdef DEBUG_SPU_COLLISION_DETECTION
 
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                spu_printf("ignoring margin\n");
 
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#endif
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        }
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        m_curIter = 0;
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                        btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis();
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                        btVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis();
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#ifdef __SPU__
 
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                        btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
 
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                        btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
 
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#else
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                        btVector3 pInA = m_minkowskiA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
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                        btVector3 qInB = m_minkowskiB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
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                        btPoint3  pWorld = localTransA(pInA);   
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                        btPoint3  qWorld = localTransB(qInB);
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#ifdef TEST_NON_VIRTUAL
 
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                        btVector3 pInAv = m_minkowskiA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
 
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                        btVector3 qInBv = m_minkowskiB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
 
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                        btAssert((pInAv-pInA).length() < 0.0001);
 
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                        btAssert((qInBv-qInB).length() < 0.0001);
 
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#endif //
 
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#endif //__SPU__
 
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                        btVector3  pWorld = localTransA(pInA);  
 
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                        btVector3  qWorld = localTransB(qInB);
 
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#ifdef DEBUG_SPU_COLLISION_DETECTION
 
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                spu_printf("got local supporting vertices\n");
 
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#endif
 
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                        btVector3 w     = pWorld - qWorld;
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                        delta = m_cachedSeparatingAxis.dot(w);
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                        // potential exit, they don't overlap
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                        if ((delta > btScalar(0.0)) && (delta * delta > squaredDistance * input.m_maximumDistanceSquared)) 
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                        {
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                                checkPenetration = false;
 
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                                checkSimplex=true;
 
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                                //checkPenetration = false;
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                                break;
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                        }
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                                checkSimplex = true;
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                                break;
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                        }
 
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#ifdef DEBUG_SPU_COLLISION_DETECTION
 
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                spu_printf("addVertex 1\n");
 
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#endif
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                        //add current vertex to simplex
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                        m_simplexSolver->addVertex(w, pWorld, qWorld);
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#ifdef DEBUG_SPU_COLLISION_DETECTION
 
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                spu_printf("addVertex 2\n");
 
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#endif
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                        //calculate the closest point to the origin (update vector v)
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                        if (!m_simplexSolver->closest(m_cachedSeparatingAxis))
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                        {
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                          //degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject   
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              if (m_curIter++ > gGjkMaxIter)   
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              {   
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                      #if defined(DEBUG) || defined (_DEBUG)   
 
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                      #if defined(DEBUG) || defined (_DEBUG) || defined (DEBUG_SPU_COLLISION_DETECTION)
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                              printf("btGjkPairDetector maxIter exceeded:%i\n",m_curIter);   
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                              printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n",   
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#endif //__CELLOS_LV2__
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#ifdef DEBUG_SPU_COLLISION_DETECTION
 
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                spu_printf("output 1\n");
 
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#endif
 
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                m_cachedSeparatingAxis = normalInB;
 
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                m_cachedSeparatingDistance = distance;
 
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                output.addContactPoint(
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                        normalInB,
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                        pointOnB+positionOffset,
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                        distance);
 
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#ifdef DEBUG_SPU_COLLISION_DETECTION
 
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                spu_printf("output 2\n");
 
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#endif
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                //printf("gjk add:%f",distance);
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        }
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