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

Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp

@@ -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->setCollisionFlags( body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
-			body->SetActivationState(DISABLE_DEACTIVATION);
+			body->setActivationState(DISABLE_DEACTIVATION);
 		}
 #endif //USE_KINEMATIC_GROUND
 		

Demos/OpenGL/DemoApplication.cpp

@@ -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)
 				{

Demos/VehicleDemo/VehicleDemo.cpp

@@ -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);
 

Extras/quickstep/SorLcp.cpp

@@ -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*));
+	//BU_Joint **joint = (BU_Joint**) alloca (nj * sizeof(BU_Joint*));
-	memcpy (joint,_joint,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

Extras/quickstep/SorLcp.h

@@ -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);
 

src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp

@@ -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 ;

src/BulletCollision/CollisionDispatch/btCollisionObject.cpp

@@ -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;
 	}
 }

src/BulletCollision/CollisionDispatch/btCollisionObject.h

@@ -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)

src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp

@@ -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) ||
+		 if (((colObj0) && colObj0->getActivationState() != ISLAND_SLEEPING) ||
-			((colObj1) && colObj1->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

src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp

@@ -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;   
 

src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp

@@ -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)
@@ -369,7 +369,7 @@ float btSequentialImpulseConstraintSolver::solveFriction(btPersistentManifold* m
 		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)

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -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)
+				if (body->getActivationState() == ACTIVE_TAG)
-					body->SetActivationState( WANTS_DEACTIVATION );
+					body->setActivationState( WANTS_DEACTIVATION );
 			} else
 			{
-				if (body->GetActivationState() != DISABLE_DEACTIVATION)
+				if (body->getActivationState() != DISABLE_DEACTIVATION)
-					body->SetActivationState( ACTIVE_TAG );
+					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);

src/BulletDynamics/Dynamics/btRigidBody.h

@@ -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)

src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp

@@ -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());
 			}