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updated test1.oec with a few static objects

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fix Maya plugin hinge constraint support
update copyright year in BulletCollision/CollisionShapes.
This commit is contained in:
erwin.coumans
2009-05-12 22:28:45 +00:00
parent 6ac6b3a257
commit 22fe8935c3
73 changed files with 267 additions and 210 deletions
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33
src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
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@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -13,6 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#include "btMultiSphereShape.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
#include "LinearMath/btQuaternion.h"
@@ -23,15 +25,15 @@ btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,cons
m_shapeType = MULTI_SPHERE_SHAPE_PROXYTYPE;
btScalar startMargin = btScalar(1e30);
m_numSpheres = numSpheres;
for (int i=0;i<m_numSpheres;i++)
m_localPositionArray.resize(numSpheres);
m_radiArray.resize(numSpheres);
for (int i=0;i<numSpheres;i++)
{
m_localPositions[i] = positions[i];
m_radi[i] = radi[i];
if (radi[i] < startMargin)
startMargin = radi[i];
m_localPositionArray[i] = positions[i];
m_radiArray[i] = radi[i];
}
setMargin(startMargin);
}
@@ -60,10 +62,11 @@ btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,cons
btVector3 vtx;
btScalar newDot;
const btVector3* pos = &m_localPositions[0];
const btScalar* rad = &m_radi[0];
const btVector3* pos = &m_localPositionArray[0];
const btScalar* rad = &m_radiArray[0];
int numSpheres = m_localPositionArray.size();
for (i=0;i<m_numSpheres;i++)
for (i=0;i<numSpheres;i++)
{
vtx = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin();
pos++;
@@ -92,10 +95,10 @@ btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,cons
btVector3 vtx;
btScalar newDot;
const btVector3* pos = &m_localPositions[0];
const btScalar* rad = &m_radi[0];
for (int i=0;i<m_numSpheres;i++)
const btVector3* pos = &m_localPositionArray[0];
const btScalar* rad = &m_radiArray[0];
int numSpheres = m_localPositionArray.size();
for (int i=0;i<numSpheres;i++)
{
vtx = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin();
pos++;