23 #if defined(DEBUG) || defined (_DEBUG)    27 #include <spu_printf.h>    28 #define printf spu_printf    33 #ifdef  BT_USE_DOUBLE_PRECISION    34         #define REL_ERROR2 btScalar(1.0e-12)    37         #define REL_ERROR2 btScalar(1.0e-6)    48 m_penetrationDepthSolver(penetrationDepthSolver),
    49 m_simplexSolver(simplexSolver),
    50 m_minkowskiA(objectA),
    51 m_minkowskiB(objectB),
    52 m_shapeTypeA(objectA->getShapeType()),
    53 m_shapeTypeB(objectB->getShapeType()),
    54 m_marginA(objectA->getMargin()),
    55 m_marginB(objectB->getMargin()),
    56 m_ignoreMargin(false),
    58 m_catchDegeneracies(1),
    59 m_fixContactNormalDirection(1)
   101         localTransA.
getOrigin() -= positionOffset;
   102         localTransB.
getOrigin() -= positionOffset;
   119         int gGjkMaxIter = 1000;
   122         bool isValid = 
false;
   123         bool checkSimplex = 
false;
   124         bool checkPenetration = 
true;
   133                 btScalar margin = marginA + marginB;
   180                         btScalar f0 = squaredDistance - delta;
   216                         btScalar previousSquaredDistance = squaredDistance;
   217                         squaredDistance = newCachedSeparatingAxis.
length2();
   219                         if (squaredDistance>previousSquaredDistance)
   223                                 squaredDistance = previousSquaredDistance;
   224                 checkSimplex = 
false;
   233                         if (previousSquaredDistance - squaredDistance <= 
SIMD_EPSILON * previousSquaredDistance) 
   247                       #if defined(DEBUG) || defined (_DEBUG)   249                               printf(
"btGjkPairDetector maxIter exceeded:%i\n",
m_curIter);   
   250                               printf(
"sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n",   
   298                                 distance = ((
btScalar(1.)/rlen) - margin);
   308                 bool catchDegeneratePenetrationCase = 
   312                 if (checkPenetration && (!isValid || catchDegeneratePenetrationCase ))
   328                                         localTransA,localTransB,
   336                                         btVector3 tmpNormalInB = tmpPointOnB-tmpPointOnA;
   344                                         if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON))
   346                                                 tmpNormalInB /= 
btSqrt(lenSqr);
   350                                                 if (!isValid || (distance2 < distance))
   352                                                         distance = distance2;
   353                                                         pointOnA = tmpPointOnA;
   354                                                         pointOnB = tmpPointOnB;
   355                                                         normalInB = tmpNormalInB;
   381                                                 if (!isValid || (distance2 < distance))
   383                                                         distance = distance2;
   384                                                         pointOnA = tmpPointOnA;
   385                                                         pointOnB = tmpPointOnB;
   431                                 d1 = (-normalInB).
dot(w);
   445                                 d0 = normalInB.
dot(w);
   456                         pointOnB+positionOffset,
 btConvexPenetrationDepthSolver * m_penetrationDepthSolver
btVector3 m_cachedSeparatingAxis
btSimplexSolverInterface * m_simplexSolver
btGjkPairDetector(const btConvexShape *objectA, const btConvexShape *objectB, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *penetrationDepthSolver)
btScalar length(const btQuaternion &q)
Return the length of a quaternion. 
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
btScalar m_cachedSeparatingDistance
btScalar gGjkEpaPenetrationTolerance
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation. 
btScalar length2() const
Return the length of the vector squared. 
btScalar btSqrt(btScalar y)
const btScalar & getY() const
Return the y value. 
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1. 
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
int gNumDeepPenetrationChecks
const btScalar & getZ() const
Return the z value. 
virtual bool calcPenDepth(btSimplexSolverInterface &simplexSolver, const btConvexShape *convexA, const btConvexShape *convexB, const btTransform &transA, const btTransform &transB, btVector3 &v, btVector3 &pa, btVector3 &pb, class btIDebugDraw *debugDraw)=0
#define btSimplexSolverInterface
btScalar dot(const btVector3 &v) const
Return the dot product. 
int m_fixContactNormalDirection
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
const btConvexShape * m_minkowskiB
btVector3 can be used to represent 3D points and vectors. 
virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth)=0
btScalar dot(const btQuaternion &q1, const btQuaternion &q2)
Calculate the dot product between two quaternions. 
btVector3 localGetSupportVertexWithoutMarginNonVirtual(const btVector3 &vec) const
const btConvexShape * m_minkowskiA
const btScalar & getX() const
Return the x value. 
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
virtual void getClosestPoints(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults=false)
void getClosestPointsNonVirtual(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw)