[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [13461] trunk/blender/extern/bullet2/src: Nobody is perfect, I forgot 2 files :)
Daniel Genrich
daniel.genrich at gmx.net
Tue Jan 29 22:07:50 CET 2008
Revision: 13461
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=13461
Author: genscher
Date: 2008-01-29 22:07:50 +0100 (Tue, 29 Jan 2008)
Log Message:
-----------
Nobody is perfect, I forgot 2 files :)
Added Paths:
-----------
trunk/blender/extern/bullet2/src/Bullet-C-Api.h
trunk/blender/extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp
Added: trunk/blender/extern/bullet2/src/Bullet-C-Api.h
===================================================================
--- trunk/blender/extern/bullet2/src/Bullet-C-Api.h (rev 0)
+++ trunk/blender/extern/bullet2/src/Bullet-C-Api.h 2008-01-29 21:07:50 UTC (rev 13461)
@@ -0,0 +1,37 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+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.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+/*
+ Draft high-level generic physics C-API. For low-level access, use the physics SDK native API's.
+ Work in progress, functionality will be added on demand.
+
+ If possible, use the richer Bullet C++ API, by including "btBulletDynamicsCommon.h"
+*/
+
+#ifndef BULLET_C_API_H
+#define BULLET_C_API_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+double plNearestPoints(float p1[3], float p2[3], float p3[3], float q1[3], float q2[3], float q3[3], float *pa, float *pb, float normal[3]);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif //BULLET_C_API_H
+
Added: trunk/blender/extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp
===================================================================
--- trunk/blender/extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp (rev 0)
+++ trunk/blender/extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp 2008-01-29 21:07:50 UTC (rev 13461)
@@ -0,0 +1,115 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+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.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+/*
+ Draft high-level generic physics C-API. For low-level access, use the physics SDK native API's.
+ Work in progress, functionality will be added on demand.
+
+ If possible, use the richer Bullet C++ API, by including <src/btBulletDynamicsCommon.h>
+*/
+
+#include "Bullet-C-Api.h"
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btAlignedAllocator.h"
+
+
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btScalar.h"
+#include "LinearMath/btMatrix3x3.h"
+#include "LinearMath/btTransform.h"
+#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
+#include "BulletCollision/CollisionShapes/btTriangleShape.h"
+
+#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
+#include "BulletCollision/NarrowPhaseCollision/btPointCollector.h"
+#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
+#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
+#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
+#include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h"
+#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
+#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
+#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
+#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
+
+#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
+#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
+#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
+#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
+#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
+#include "LinearMath/btStackAlloc.h"
+
+extern "C"
+double plNearestPoints(float p1[3], float p2[3], float p3[3], float q1[3], float q2[3], float q3[3], float *pa, float *pb, float normal[3])
+{
+ btTriangleShape trishapeA(btVector3(p1[0], p1[1], p1[2]), btVector3(p2[0], p2[1], p2[2]), btVector3(p3[0], p3[1], p3[2]));
+ trishapeA.setMargin(0.000001f);
+
+ btTriangleShape trishapeB(btVector3(q1[0], q1[1], q1[2]), btVector3(q2[0], q2[1], q2[2]), btVector3(q3[0], q3[1], q3[2]));
+ trishapeB.setMargin(0.000001f);
+
+ // btVoronoiSimplexSolver sGjkSimplexSolver;
+ // btGjkEpaPenetrationDepthSolver penSolverPtr;
+
+ static btSimplexSolverInterface sGjkSimplexSolver;
+ sGjkSimplexSolver.reset();
+
+ static btGjkEpaPenetrationDepthSolver Solver0;
+ static btMinkowskiPenetrationDepthSolver Solver1;
+
+ btConvexPenetrationDepthSolver* Solver = NULL;
+
+ Solver = &Solver1;
+
+ btGjkPairDetector convexConvex(&trishapeA ,&trishapeB,&sGjkSimplexSolver,Solver);
+
+ convexConvex.m_catchDegeneracies = 1;
+
+ // btGjkPairDetector convexConvex(&trishapeA ,&trishapeB,&sGjkSimplexSolver,0);
+
+ btPointCollector gjkOutput;
+ btGjkPairDetector::ClosestPointInput input;
+
+ btStackAlloc gStackAlloc(1024*1024*2);
+
+ input.m_stackAlloc = &gStackAlloc;
+
+ btTransform tr;
+ tr.setIdentity();
+
+ input.m_transformA = tr;
+ input.m_transformB = tr;
+
+ convexConvex.getClosestPoints(input, gjkOutput, 0);
+
+
+ if (gjkOutput.m_hasResult)
+ {
+
+ pb[0] = pa[0] = gjkOutput.m_pointInWorld[0];
+ pb[1] = pa[1] = gjkOutput.m_pointInWorld[1];
+ pb[2] = pa[2] = gjkOutput.m_pointInWorld[2];
+
+ pb[0]+= gjkOutput.m_normalOnBInWorld[0] * gjkOutput.m_distance;
+ pb[1]+= gjkOutput.m_normalOnBInWorld[1] * gjkOutput.m_distance;
+ pb[2]+= gjkOutput.m_normalOnBInWorld[2] * gjkOutput.m_distance;
+
+ normal[0] = gjkOutput.m_normalOnBInWorld[0];
+ normal[1] = gjkOutput.m_normalOnBInWorld[1];
+ normal[2] = gjkOutput.m_normalOnBInWorld[2];
+
+ return gjkOutput.m_distance;
+ }
+ return -1.0f;
+}
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