Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

more small refactoring: some methods were still upper-case.

Browse Source
This commit is contained in:
ejcoumans
2006-11-03 04:32:48 +00:00
parent 4050da0e2f
commit 07873854a4
15 changed files with 69 additions and 63 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
View File

@@ -152,7 +152,7 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
btRigidBody::upcast(colObj)->getMotionState()->setWorldTransform(newTrans);
} else
{
m_dynamicsWorld->getCollisionObjectArray()[0]->m_worldTransform.getOrigin() += kinTranslation;
m_dynamicsWorld->getCollisionObjectArray()[0]->getWorldTransform().getOrigin() += kinTranslation;
}
#endif //USE_KINEMATIC_GROUND
@@ -258,8 +258,12 @@ void CcdPhysicsDemo::initPhysics()
#ifdef REGISTER_CUSTOM_COLLISION_ALGORITHM
dispatcher->registerCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,SPHERE_SHAPE_PROXYTYPE,new btSphereSphereCollisionAlgorithm::CreateFunc);
dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,new BoxBoxCollisionAlgorithm::CreateFunc);
//box-box is in Extras/AlternativeCollisionAlgorithms:it requires inclusion of those files
//dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,new BoxBoxCollisionAlgorithm::CreateFunc);
dispatcher->registerCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,TRIANGLE_SHAPE_PROXYTYPE,new btSphereTriangleCollisionAlgorithm::CreateFunc);
btSphereTriangleCollisionAlgorithm::CreateFunc* triangleSphereCF = new btSphereTriangleCollisionAlgorithm::CreateFunc;
triangleSphereCF->m_swapped = true;
dispatcher->registerCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,TRIANGLE_SHAPE_PROXYTYPE,triangleSphereCF);
#endif //REGISTER_CUSTOM_COLLISION_ALGORITHM
#ifdef COMPARE_WITH_QUICKSTEP
@@ -361,8 +365,8 @@ void CcdPhysicsDemo::initPhysics()
#ifdef USE_KINEMATIC_GROUND
if (mass == 0.f)
{
body->m_collisionFlags = btCollisionObject::CF_KINEMATIC_OJBECT;
body->SetActivationState(DISABLE_DEACTIVATION);
body->setCollisionFlags( body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
body->setActivationState(DISABLE_DEACTIVATION);
}
#endif //USE_KINEMATIC_GROUND

10
Demos/OpenGL/DemoApplication.cpp
View File

@@ -522,7 +522,7 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject);
if (body)
{
body->SetActivationState(ACTIVE_TAG);
body->setActivationState(ACTIVE_TAG);
btVector3 impulse = rayTo;
impulse.normalize();
float impulseStrength = 10.f;
@@ -562,7 +562,7 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
if (!(body->isStaticObject() || body->isKinematicObject()))
{
pickedBody = body;
pickedBody->SetActivationState(DISABLE_DEACTIVATION);
pickedBody->setActivationState(DISABLE_DEACTIVATION);
btVector3 pickPos = rayCallback.m_hitPointWorld;
@@ -596,7 +596,7 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
delete m_pickConstraint;
//printf("removed constraint %i",gPickingConstraintId);
m_pickConstraint = 0;
pickedBody->ForceActivationState(ACTIVE_TAG);
pickedBody->forceActivationState(ACTIVE_TAG);
pickedBody->setDeactivationTime( 0.f );
pickedBody = 0;
}
@@ -699,7 +699,7 @@ void DemoApplication::renderme()
wireColor = btVector3(0.f,0.0f,1.f);
}
///color differently for active, sleeping, wantsdeactivation states
if (colObj->GetActivationState() == 1) //active
if (colObj->getActivationState() == 1) //active
{
if (i & 1)
{
@@ -709,7 +709,7 @@ void DemoApplication::renderme()
wireColor += btVector3 (.5f,0.f,0.f);
}
}
if (colObj->GetActivationState() == 2) //ISLAND_SLEEPING
if (colObj->getActivationState() == 2) //ISLAND_SLEEPING
{
if (i & 1)
{

3
Demos/VehicleDemo/VehicleDemo.cpp
View File

@@ -13,7 +13,6 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
/// September 2006: VehicleDemo is work in progress, this file is mostly just a placeholder
/// This VehicleDemo file is very early in development, please check it later
@@ -164,7 +163,7 @@ const float TRIANGLE_SIZE=20.f;
m_vehicle = new btRaycastVehicle(m_tuning,m_carChassis,m_vehicleRayCaster);
///never deactivate the vehicle
m_carChassis->SetActivationState(DISABLE_DEACTIVATION);
m_carChassis->setActivationState(DISABLE_DEACTIVATION);
m_dynamicsWorld->addVehicle(m_vehicle);

2
Extras/quickstep/OdeSolverBody.h
View File

@@ -21,7 +21,7 @@ class btRigidBody;
typedef btScalar dMatrix3[4*3];
///ODE's quickstep needs just a subset of the rigidbody data in its own layout, so make a temp copy
struct OdeSolverBody
struct OdeSolverBody
{
btRigidBody* m_originalBody;

6
Extras/quickstep/SorLcp.cpp
View File

@@ -596,7 +596,7 @@ static void SOR_LCP (int m, int nb, dRealMutablePtr J, int *jb, OdeSolverBody *
void SolveInternal1 (float global_cfm,
float global_erp,
OdeSolverBody* const *body, int nb,
BU_Joint * const *_joint,
BU_Joint **joint,
int nj,
const btContactSolverInfo& solverInfo)
{
@@ -616,8 +616,8 @@ void SolveInternal1 (float global_cfm,
// (the "BU_Joint *const*" declaration says we're allowed to modify the joints
// but not the joint array, because the caller might need it unchanged).
//@@@ do we really need to do this? we'll be sorting constraint rows individually, not joints
BU_Joint **joint = (BU_Joint**) alloca (nj * sizeof(BU_Joint*));
memcpy (joint,_joint,nj * sizeof(BU_Joint*));
//BU_Joint **joint = (BU_Joint**) alloca (nj * sizeof(BU_Joint*));
//memcpy (joint,_joint,nj * sizeof(BU_Joint*));
// for all bodies, compute the inertia tensor and its inverse in the global
// frame, and compute the rotational force and add it to the torque

2
Extras/quickstep/SorLcp.h
View File

@@ -34,7 +34,7 @@ struct btContactSolverInfo;
void SolveInternal1 (float global_cfm,
float global_erp,
OdeSolverBody * const *body, int nb,
BU_Joint * const *_joint, int nj, const btContactSolverInfo& info);
BU_Joint **_joint, int nj, const btContactSolverInfo& info);
int dRandInt2 (int n);

2
src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
View File

@@ -257,7 +257,7 @@ bool btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionO
printf("warning btCollisionDispatcher::needsCollision: static-static collision!\n");
}
if ((!body0->IsActive()) && (!body1->IsActive()))
if ((!body0->isActive()) && (!body1->isActive()))
needsCollision = false;
return needsCollision ;

8
src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
View File

@@ -30,22 +30,22 @@ btCollisionObject::btCollisionObject()
}
void btCollisionObject::SetActivationState(int newState)
void btCollisionObject::setActivationState(int newState)
{
if ( (m_activationState1 != DISABLE_DEACTIVATION) && (m_activationState1 != DISABLE_SIMULATION))
m_activationState1 = newState;
}
void btCollisionObject::ForceActivationState(int newState)
void btCollisionObject::forceActivationState(int newState)
{
m_activationState1 = newState;
}
void btCollisionObject::activate()
{
if (!(m_collisionFlags & (CF_STATIC_OBJECT|CF_KINEMATIC_OJBECT)))
if (!(m_collisionFlags & (CF_STATIC_OBJECT|CF_KINEMATIC_OBJECT)))
{
SetActivationState(ACTIVE_TAG);
setActivationState(ACTIVE_TAG);
m_deactivationTime = 0.f;
}
}

18
src/BulletCollision/CollisionDispatch/btCollisionObject.h
View File

@@ -80,7 +80,7 @@ public:
enum CollisionFlags
{
CF_STATIC_OBJECT= 1,
CF_KINEMATIC_OJBECT= 2,
CF_KINEMATIC_OBJECT= 2,
CF_NO_CONTACT_RESPONSE = 4,
CF_CUSTOM_MATERIAL_CALLBACK = 8,//this allows per-triangle material (friction/restitution)
};
@@ -89,7 +89,7 @@ public:
inline bool mergesSimulationIslands() const
{
///static objects, kinematic and object without contact response don't merge islands
return ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OJBECT | CF_NO_CONTACT_RESPONSE) )==0);
return ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE) )==0);
}
@@ -99,12 +99,12 @@ public:
inline bool isKinematicObject() const
{
return (m_collisionFlags & CF_KINEMATIC_OJBECT) != 0;
return (m_collisionFlags & CF_KINEMATIC_OBJECT) != 0;
}
inline bool isStaticOrKinematicObject() const
{
return (m_collisionFlags & (CF_KINEMATIC_OJBECT | CF_STATIC_OBJECT)) != 0 ;
return (m_collisionFlags & (CF_KINEMATIC_OBJECT | CF_STATIC_OBJECT)) != 0 ;
}
inline bool hasContactResponse() const {
@@ -133,9 +133,9 @@ public:
int GetActivationState() const { return m_activationState1;}
int getActivationState() const { return m_activationState1;}
void SetActivationState(int newState);
void setActivationState(int newState);
void setDeactivationTime(float time)
{
@@ -146,13 +146,13 @@ public:
return m_deactivationTime;
}
void ForceActivationState(int newState);
void forceActivationState(int newState);
void activate();
inline bool IsActive() const
inline bool isActive() const
{
return ((GetActivationState() != ISLAND_SLEEPING) && (GetActivationState() != DISABLE_SIMULATION));
return ((getActivationState() != ISLAND_SLEEPING) && (getActivationState() != DISABLE_SIMULATION));
}
void setRestitution(float rest)

22
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
View File

@@ -166,11 +166,11 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
if (colObj0->getIslandTag() == islandId)
{
if (colObj0->GetActivationState()== ACTIVE_TAG)
if (colObj0->getActivationState()== ACTIVE_TAG)
{
allSleeping = false;
}
if (colObj0->GetActivationState()== DISABLE_DEACTIVATION)
if (colObj0->getActivationState()== DISABLE_DEACTIVATION)
{
allSleeping = false;
}
@@ -193,7 +193,7 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
if (colObj0->getIslandTag() == islandId)
{
colObj0->SetActivationState( ISLAND_SLEEPING );
colObj0->setActivationState( ISLAND_SLEEPING );
}
}
} else
@@ -214,9 +214,9 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
if (colObj0->getIslandTag() == islandId)
{
if ( colObj0->GetActivationState() == ISLAND_SLEEPING)
if ( colObj0->getActivationState() == ISLAND_SLEEPING)
{
colObj0->SetActivationState( WANTS_DEACTIVATION);
colObj0->setActivationState( WANTS_DEACTIVATION);
}
}
}
@@ -236,17 +236,17 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
btCollisionObject* colObj1 = static_cast<btCollisionObject*>(manifold->getBody1());
//todo: check sleeping conditions!
if (((colObj0) && colObj0->GetActivationState() != ISLAND_SLEEPING) ||
((colObj1) && colObj1->GetActivationState() != ISLAND_SLEEPING))
if (((colObj0) && colObj0->getActivationState() != ISLAND_SLEEPING) ||
((colObj1) && colObj1->getActivationState() != ISLAND_SLEEPING))
{
//kinematic objects don't merge islands, but wake up all connected objects
if (colObj0->isKinematicObject() && colObj0->GetActivationState() != ISLAND_SLEEPING)
if (colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING)
{
colObj1->SetActivationState(ACTIVE_TAG);
colObj1->setActivationState(ACTIVE_TAG);
}
if (colObj1->isKinematicObject() && colObj1->GetActivationState() != ISLAND_SLEEPING)
if (colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING)
{
colObj0->SetActivationState(ACTIVE_TAG);
colObj0->setActivationState(ACTIVE_TAG);
}
//filtering for response

3
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
View File

@@ -28,6 +28,7 @@ float maxdist2 = 1.e30f;
#ifdef __SPU__
#include <spu_printf.h>
#define printf spu_printf
#endif //__SPU__
btGjkPairDetector::btGjkPairDetector(btConvexShape* objectA,btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver)
@@ -133,6 +134,7 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
if (curIter++ > gGjkMaxIter)
{
#if defined(DEBUG) || defined (_DEBUG)
printf("btGjkPairDetector maxIter exceeded:%i\n",curIter);
printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n",
m_cachedSeparatingAxis.getX(),
@@ -141,6 +143,7 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
squaredDistance,
m_minkowskiA->getShapeType(),
m_minkowskiB->getShapeType());
#endif
break;

6
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
View File

@@ -326,7 +326,7 @@ float btSequentialImpulseConstraintSolver::solve(btPersistentManifold* manifoldP
for (int i=0;i<numpoints ;i++)
{
int j=i;
int j=i;//(i&1)? i : numpoints-1-i;
btManifoldPoint& cp = manifoldPtr->getContactPoint(j);
if (cp.getDistance() <= 0.f)
@@ -368,9 +368,9 @@ float btSequentialImpulseConstraintSolver::solveFriction(btPersistentManifold* m
btVector3 color(0,1,0);
for (int i=0;i<numpoints ;i++)
{
int j=i;//(i&1)? i : numpoints-1-i;
int j=i;
btManifoldPoint& cp = manifoldPtr->getContactPoint(j);
if (cp.getDistance() <= 0.f)
{

22
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

@@ -102,7 +102,7 @@ void btDiscreteDynamicsWorld::saveKinematicState(float timeStep)
if (body)
{
btTransform predictedTrans;
if (body->GetActivationState() != ISLAND_SLEEPING)
if (body->getActivationState() != ISLAND_SLEEPING)
{
if (body->isKinematicObject())
{
@@ -123,7 +123,7 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates()
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
{
btVector3 color(255.f,255.f,255.f);
switch(colObj->GetActivationState())
switch(colObj->getActivationState())
{
case ACTIVE_TAG:
color = btVector3(255.f,255.f,255.f); break;
@@ -146,7 +146,7 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates()
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && body->getMotionState() && !body->isStaticOrKinematicObject())
{
if (body->GetActivationState() != ISLAND_SLEEPING)
if (body->getActivationState() != ISLAND_SLEEPING)
{
btTransform interpolatedTransform;
btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(),
@@ -302,12 +302,12 @@ void btDiscreteDynamicsWorld::updateActivationState(float timeStep)
if (body->wantsSleeping())
{
if (body->GetActivationState() == ACTIVE_TAG)
body->SetActivationState( WANTS_DEACTIVATION );
if (body->getActivationState() == ACTIVE_TAG)
body->setActivationState( WANTS_DEACTIVATION );
} else
{
if (body->GetActivationState() != DISABLE_DEACTIVATION)
body->SetActivationState( ACTIVE_TAG );
if (body->getActivationState() != DISABLE_DEACTIVATION)
body->setActivationState( ACTIVE_TAG );
}
}
}
@@ -435,7 +435,7 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands()
if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
((colObj1) && ((colObj1)->mergesSimulationIslands())))
{
if (colObj0->IsActive() || colObj1->IsActive())
if (colObj0->isActive() || colObj1->isActive())
{
getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),
@@ -512,7 +512,7 @@ void btDiscreteDynamicsWorld::updateAabbs()
//something went wrong, investigate
//this assert is unwanted in 3D modelers (danger of loosing work)
assert(0);
body->SetActivationState(DISABLE_SIMULATION);
body->setActivationState(DISABLE_SIMULATION);
static bool reportMe = true;
if (reportMe)
@@ -547,7 +547,7 @@ void btDiscreteDynamicsWorld::integrateTransforms(float timeStep)
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
{
if (body->IsActive() && (!body->isStaticOrKinematicObject()))
if (body->isActive() && (!body->isStaticOrKinematicObject()))
{
body->predictIntegratedTransform(timeStep, predictedTrans);
body->proceedToTransform( predictedTrans);
@@ -570,7 +570,7 @@ void btDiscreteDynamicsWorld::predictUnconstraintMotion(float timeStep)
{
if (!body->isStaticOrKinematicObject())
{
if (body->IsActive())
if (body->isActive())
{
body->applyForces( timeStep);
body->integrateVelocities( timeStep);

8
src/BulletDynamics/Dynamics/btRigidBody.h
View File

@@ -251,7 +251,7 @@ public:
inline void updateDeactivation(float timeStep)
{
if ( (GetActivationState() == ISLAND_SLEEPING) || (GetActivationState() == DISABLE_DEACTIVATION))
if ( (getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION))
return;
if ((getLinearVelocity().length2() < gLinearSleepingThreshold*gLinearSleepingThreshold) &&
@@ -261,7 +261,7 @@ public:
} else
{
m_deactivationTime=0.f;
SetActivationState(0);
setActivationState(0);
}
}
@@ -269,14 +269,14 @@ public:
inline bool wantsSleeping()
{
if (GetActivationState() == DISABLE_DEACTIVATION)
if (getActivationState() == DISABLE_DEACTIVATION)
return false;
//disable deactivation
if (gDisableDeactivation || (gDeactivationTime == 0.f))
return false;
if ( (GetActivationState() == ISLAND_SLEEPING) || (GetActivationState() == WANTS_DEACTIVATION))
if ( (getActivationState() == ISLAND_SLEEPING) || (getActivationState() == WANTS_DEACTIVATION))
return true;
if (m_deactivationTime> gDeactivationTime)

8
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
View File

@@ -114,7 +114,7 @@ void btSimpleDynamicsWorld::updateAabbs()
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
{
if (body->IsActive() && (!body->isStaticObject()))
if (body->isActive() && (!body->isStaticObject()))
{
btPoint3 minAabb,maxAabb;
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
@@ -134,7 +134,7 @@ void btSimpleDynamicsWorld::integrateTransforms(float timeStep)
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
{
if (body->IsActive() && (!body->isStaticObject()))
if (body->isActive() && (!body->isStaticObject()))
{
body->predictIntegratedTransform(timeStep, predictedTrans);
body->proceedToTransform( predictedTrans);
@@ -155,7 +155,7 @@ void btSimpleDynamicsWorld::predictUnconstraintMotion(float timeStep)
{
if (!body->isStaticObject())
{
if (body->IsActive())
if (body->isActive())
{
body->applyForces( timeStep);
body->integrateVelocities( timeStep);
@@ -176,7 +176,7 @@ void btSimpleDynamicsWorld::synchronizeMotionStates()
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && body->getMotionState())
{
if (body->GetActivationState() != ISLAND_SLEEPING)
if (body->getActivationState() != ISLAND_SLEEPING)
{
body->getMotionState()->setWorldTransform(body->getWorldTransform());
}