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Ignore:
Timestamp:
Apr 28, 2011, 7:15:14 AM (14 years ago)
Author:
rgrieder
Message:

Merged kicklib2 branch back to trunk (includes former branches ois_update, mac_osx and kicklib).

Notes for updating

Linux:
You don't need an extra package for CEGUILua and Tolua, it's already shipped with CEGUI.
However you do need to make sure that the OgreRenderer is installed too with CEGUI 0.7 (may be a separate package).
Also, Orxonox now recognises if you install the CgProgramManager (a separate package available on newer Ubuntu on Debian systems).

Windows:
Download the new dependency packages versioned 6.0 and use these. If you have problems with that or if you don't like the in game console problem mentioned below, you can download the new 4.3 version of the packages (only available for Visual Studio 2005/2008).

Key new features:

  • *Support for Mac OS X*
  • Visual Studio 2010 support
  • Bullet library update to 2.77
  • OIS library update to 1.3
  • Support for CEGUI 0.7 —> Support for Arch Linux and even SuSE
  • Improved install target
  • Compiles now with GCC 4.6
  • Ogre Cg Shader plugin activated for Linux if available
  • And of course lots of bug fixes

There are also some regressions:

  • No support for CEGUI 0.5, Ogre 1.4 and boost 1.35 - 1.39 any more
  • In game console is not working in main menu for CEGUI 0.7
  • Tolua (just the C lib, not the application) and CEGUILua libraries are no longer in our repository. —> You will need to get these as well when compiling Orxonox
  • And of course lots of new bugs we don't yet know about
File:
1 edited

Legend:

Unmodified
Added
Removed

  • code/trunk/src/external/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp

    r5781 r8351  
    2121
    2222#define NUM_UNITSPHERE_POINTS 42
    23 static btVector3        sPenetrationDirections[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
    24 {
    25 btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
    26 btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
    27 btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
    28 btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
    29 btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
    30 btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
    31 btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
    32 btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
    33 btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
    34 btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
    35 btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
    36 btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
    37 btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
    38 btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
    39 btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
    40 btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
    41 btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
    42 btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
    43 btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
    44 btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
    45 btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
    46 btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
    47 btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
    48 btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
    49 btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
    50 btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
    51 btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
    52 btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
    53 btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
    54 btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
    55 btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
    56 btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
    57 btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
    58 btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
    59 btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
    60 btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
    61 btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
    62 btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
    63 btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
    64 btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
    65 btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
    66 btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
    67 };
    6823
    6924
    … …  
    7934        (void)v;
    8035       
     36        bool check2d= convexA->isConvex2d() && convexB->isConvex2d();
    8137
    8238        struct btIntermediateResult : public btDiscreteCollisionDetectorInterface::Result
    … …  
    9248                bool    m_hasResult;
    9349
    94                 virtual void setShapeIdentifiers(int partId0,int index0,        int partId1,int index1)
     50                virtual void setShapeIdentifiersA(int partId0,int index0)
    9551                {
    9652                        (void)partId0;
    9753                        (void)index0;
     54                }
     55                virtual void setShapeIdentifiersB(int partId1,int index1)
     56                {
    9857                        (void)partId1;
    9958                        (void)index1;
    … …  
    10968
    11069        //just take fixed number of orientation, and sample the penetration depth in that direction
    111         btScalar minProj = btScalar(1e30);
     70        btScalar minProj = btScalar(BT_LARGE_FLOAT);
    11271        btVector3 minNorm(btScalar(0.), btScalar(0.), btScalar(0.));
    11372        btVector3 minA,minB;
    … …  
    13089        for (i=0;i<numSampleDirections;i++)
    13190        {
    132                 const btVector3& norm = sPenetrationDirections[i];
     91                btVector3 norm = getPenetrationDirections()[i];
    13392                seperatingAxisInABatch[i] =  (-norm) * transA.getBasis() ;
    13493                seperatingAxisInBBatch[i] =  norm   * transB.getBasis() ;
    … …  
    144103                                convexA->getPreferredPenetrationDirection(i,norm);
    145104                                norm  = transA.getBasis() * norm;
    146                                 sPenetrationDirections[numSampleDirections] = norm;
     105                                getPenetrationDirections()[numSampleDirections] = norm;
    147106                                seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
    148107                                seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
    … …  
    161120                                convexB->getPreferredPenetrationDirection(i,norm);
    162121                                norm  = transB.getBasis() * norm;
    163                                 sPenetrationDirections[numSampleDirections] = norm;
     122                                getPenetrationDirections()[numSampleDirections] = norm;
    164123                                seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
    165124                                seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
    … …  
    171130
    172131
     132
    173133        convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInABatch,supportVerticesABatch,numSampleDirections);
    174134        convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInBBatch,supportVerticesBBatch,numSampleDirections);
    … …  
    176136        for (i=0;i<numSampleDirections;i++)
    177137        {
    178                 const btVector3& norm = sPenetrationDirections[i];
    179                 seperatingAxisInA = seperatingAxisInABatch[i];
    180                 seperatingAxisInB = seperatingAxisInBBatch[i];
    181 
    182                 pInA = supportVerticesABatch[i];
    183                 qInB = supportVerticesBBatch[i];
    184 
    185                 pWorld = transA(pInA); 
    186                 qWorld = transB(qInB);
    187                 w       = qWorld - pWorld;
    188                 btScalar delta = norm.dot(w);
    189                 //find smallest delta
    190                 if (delta < minProj)
    191                 {
    192                         minProj = delta;
    193                         minNorm = norm;
    194                         minA = pWorld;
    195                         minB = qWorld;
     138                btVector3 norm = getPenetrationDirections()[i];
     139                if (check2d)
     140                {
     141                        norm[2] = 0.f;
     142                }
     143                if (norm.length2()>0.01)
     144                {
     145
     146                        seperatingAxisInA = seperatingAxisInABatch[i];
     147                        seperatingAxisInB = seperatingAxisInBBatch[i];
     148
     149                        pInA = supportVerticesABatch[i];
     150                        qInB = supportVerticesBBatch[i];
     151
     152                        pWorld = transA(pInA); 
     153                        qWorld = transB(qInB);
     154                        if (check2d)
     155                        {
     156                                pWorld[2] = 0.f;
     157                                qWorld[2] = 0.f;
     158                        }
     159
     160                        w       = qWorld - pWorld;
     161                        btScalar delta = norm.dot(w);
     162                        //find smallest delta
     163                        if (delta < minProj)
     164                        {
     165                                minProj = delta;
     166                                minNorm = norm;
     167                                minA = pWorld;
     168                                minB = qWorld;
     169                        }
    196170                }
    197171        }       
    … …  
    210184                                convexA->getPreferredPenetrationDirection(i,norm);
    211185                                norm  = transA.getBasis() * norm;
    212                                 sPenetrationDirections[numSampleDirections] = norm;
     186                                getPenetrationDirections()[numSampleDirections] = norm;
    213187                                numSampleDirections++;
    214188                        }
    … …  
    225199                                convexB->getPreferredPenetrationDirection(i,norm);
    226200                                norm  = transB.getBasis() * norm;
    227                                 sPenetrationDirections[numSampleDirections] = norm;
     201                                getPenetrationDirections()[numSampleDirections] = norm;
    228202                                numSampleDirections++;
    229203                        }
    … …  
    234208        for (int i=0;i<numSampleDirections;i++)
    235209        {
    236                 const btVector3& norm = sPenetrationDirections[i];
     210                const btVector3& norm = getPenetrationDirections()[i];
    237211                seperatingAxisInA = (-norm)* transA.getBasis();
    238212                seperatingAxisInB = norm* transB.getBasis();
    … …  
    262236                return false;
    263237
    264         minProj += (convexA->getMarginNonVirtual() + convexB->getMarginNonVirtual());
     238        btScalar extraSeparation = 0.5f;///scale dependent
     239        minProj += extraSeparation+(convexA->getMarginNonVirtual() + convexB->getMarginNonVirtual());
    265240
    266241
    … …  
    300275        input.m_transformA = displacedTrans;
    301276        input.m_transformB = transB;
    302         input.m_maximumDistanceSquared = btScalar(1e30);//minProj;
     277        input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);//minProj;
    303278       
    304279        btIntermediateResult res;
     280        gjkdet.setCachedSeperatingAxis(-minNorm);
    305281        gjkdet.getClosestPoints(input,res,debugDraw);
    306282
    … …  
    311287        btScalar penetration_relaxation= btScalar(1.);
    312288        minNorm*=penetration_relaxation;
     289       
    313290
    314291        if (res.m_hasResult)
    … …  
    317294                pa = res.m_pointInWorld - minNorm * correctedMinNorm;
    318295                pb = res.m_pointInWorld;
     296                v = minNorm;
    319297               
    320298#ifdef DEBUG_DRAW
    … …  
    331309}
    332310
    333 
    334 
     311btVector3*      btMinkowskiPenetrationDepthSolver::getPenetrationDirections()
     312{
     313        static btVector3        sPenetrationDirections[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
     314        {
     315        btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
     316        btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
     317        btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
     318        btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
     319        btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
     320        btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
     321        btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
     322        btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
     323        btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
     324        btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
     325        btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
     326        btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
     327        btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
     328        btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
     329        btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
     330        btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
     331        btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
     332        btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
     333        btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
     334        btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
     335        btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
     336        btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
     337        btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
     338        btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
     339        btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
     340        btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
     341        btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
     342        btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
     343        btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
     344        btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
     345        btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
     346        btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
     347        btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
     348        btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
     349        btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
     350        btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
     351        btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
     352        btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
     353        btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
     354        btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
     355        btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
     356        btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
     357        };
     358
     359        return sPenetrationDirections;
     360}
     361
     362
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