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Refactoring: another huge number of changes, renamed methods to start with lower-case.

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This commit is contained in:
ejcoumans
2006-09-28 01:11:16 +00:00
parent d0f09040e9
commit 2b1657b1dd
185 changed files with 2103 additions and 2095 deletions
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36
Demos/EPAPenDepthDemo/EpaPenDepthDemo.cpp
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@@ -106,7 +106,7 @@ bool createBoxShape( int shapeIndex )
//{
// g_pConvexShapes[ shapeIndex ] = new btBoxShape( btVector3( 1, 1, 1 ) );
// g_pConvexShapes[ shapeIndex ]->SetMargin( 0.05 );
// g_pConvexShapes[ shapeIndex ]->setMargin( 0.05 );
// g_convexShapesTransform[ shapeIndex ].setIdentity();
@@ -123,7 +123,7 @@ bool createBoxShape( int shapeIndex )
//{
// g_pConvexShapes[ shapeIndex ] = new btBoxShape( btVector3( 25, 10, 25 ) );
// g_pConvexShapes[ shapeIndex ]->SetMargin( 0.05 );
// g_pConvexShapes[ shapeIndex ]->setMargin( 0.05 );
// //btMatrix3x3 basis( 0.658257, 0.675022, -0.333709,
// // -0.333120, 0.658556, 0.675023,
@@ -138,7 +138,7 @@ bool createBoxShape( int shapeIndex )
g_pConvexShapes[ shapeIndex ] = new btBoxShape( btVector3( 1, 1, 1 ) );
g_pConvexShapes[ shapeIndex ]->SetMargin( 1e-1 );
g_pConvexShapes[ shapeIndex ]->setMargin( 1e-1 );
g_convexShapesTransform[ shapeIndex ].setIdentity();
@@ -151,7 +151,7 @@ bool createSphereShape( int shapeIndex )
{
g_pConvexShapes[ shapeIndex ] = new btSphereShape( g_sphereRadius );
g_pConvexShapes[ shapeIndex ]->SetMargin( 1e-1 );
g_pConvexShapes[ shapeIndex ]->setMargin( 1e-1 );
g_convexShapesTransform[ shapeIndex ].setIdentity();
g_convexShapesTransform[ shapeIndex ].setOrigin( randomPosition( g_sceneVolumeMin, g_sceneVolumeMax ) );
@@ -196,7 +196,7 @@ bool calcPenDepth()
btScalar squaredDistance = SIMD_INFINITY;
btScalar delta = 0.f;
const btScalar margin = g_pConvexShapes[ 0 ]->GetMargin() + g_pConvexShapes[ 1 ]->GetMargin();
const btScalar margin = g_pConvexShapes[ 0 ]->getMargin() + g_pConvexShapes[ 1 ]->getMargin();
const btScalar marginSqrd = margin * margin;
btScalar maxRelErrorSqrd = 1e-3 * 1e-3;
@@ -210,8 +210,8 @@ bool calcPenDepth()
btVector3 seperatingAxisInA = -v * g_convexShapesTransform[ 0 ].getBasis();
btVector3 seperatingAxisInB = v * g_convexShapesTransform[ 1 ].getBasis();
btVector3 pInA = g_pConvexShapes[ 0 ]->LocalGetSupportingVertexWithoutMargin( seperatingAxisInA );
btVector3 qInB = g_pConvexShapes[ 1 ]->LocalGetSupportingVertexWithoutMargin( seperatingAxisInB );
btVector3 pInA = g_pConvexShapes[ 0 ]->localGetSupportingVertexWithoutMargin( seperatingAxisInA );
btVector3 qInB = g_pConvexShapes[ 1 ]->localGetSupportingVertexWithoutMargin( seperatingAxisInB );
btPoint3 pWorld = g_convexShapesTransform[ 0 ]( pInA );
btPoint3 qWorld = g_convexShapesTransform[ 1 ]( qInB );
@@ -234,8 +234,8 @@ bool calcPenDepth()
assert( ( squaredDistance > 0 ) && "squaredDistance is zero!" );
btScalar vLength = sqrt( squaredDistance );
g_wWitnesses[ 0 ] -= v * ( g_pConvexShapes[ 0 ]->GetMargin() / vLength );
g_wWitnesses[ 1 ] += v * ( g_pConvexShapes[ 1 ]->GetMargin() / vLength );
g_wWitnesses[ 0 ] -= v * ( g_pConvexShapes[ 0 ]->getMargin() / vLength );
g_wWitnesses[ 1 ] += v * ( g_pConvexShapes[ 1 ]->getMargin() / vLength );
return true;
}
@@ -251,8 +251,8 @@ bool calcPenDepth()
assert( ( squaredDistance > 0 ) && "squaredDistance is zero!" );
btScalar vLength = sqrt( squaredDistance );
g_wWitnesses[ 0 ] -= v * ( g_pConvexShapes[ 0 ]->GetMargin() / vLength );
g_wWitnesses[ 1 ] += v * ( g_pConvexShapes[ 1 ]->GetMargin() / vLength );
g_wWitnesses[ 0 ] -= v * ( g_pConvexShapes[ 0 ]->getMargin() / vLength );
g_wWitnesses[ 1 ] += v * ( g_pConvexShapes[ 1 ]->getMargin() / vLength );
return true;
}
@@ -271,8 +271,8 @@ bool calcPenDepth()
assert( ( squaredDistance > 0 ) && "squaredDistance is zero!" );
btScalar vLength = sqrt( squaredDistance );
g_wWitnesses[ 0 ] -= v * ( g_pConvexShapes[ 0 ]->GetMargin() / vLength );
g_wWitnesses[ 1 ] += v * ( g_pConvexShapes[ 1 ]->GetMargin() / vLength );
g_wWitnesses[ 0 ] -= v * ( g_pConvexShapes[ 0 ]->getMargin() / vLength );
g_wWitnesses[ 1 ] += v * ( g_pConvexShapes[ 1 ]->getMargin() / vLength );
return true;
}
@@ -284,7 +284,7 @@ bool calcPenDepth()
}
}
return epaPenDepthSolver.CalcPenDepth( simplexSolver, g_pConvexShapes[ 0 ], g_pConvexShapes[ 1 ],
return epaPenDepthSolver.calcPenDepth( simplexSolver, g_pConvexShapes[ 0 ], g_pConvexShapes[ 1 ],
g_convexShapesTransform[ 0 ], g_convexShapesTransform[ 1 ], v,
g_wWitnesses[ 0 ], g_wWitnesses[ 1 ], 0 );
}
@@ -311,11 +311,11 @@ void drawShape( int shapeIndex )
glMultMatrixf( m );
if ( g_pConvexShapes[ shapeIndex ]->GetShapeType() == BOX_SHAPE_PROXYTYPE )
if ( g_pConvexShapes[ shapeIndex ]->getShapeType() == BOX_SHAPE_PROXYTYPE )
{
glutWireCube( ( ( btBoxShape* ) g_pConvexShapes[ shapeIndex ] )->GetHalfExtents().x() * 2 );
glutWireCube( ( ( btBoxShape* ) g_pConvexShapes[ shapeIndex ] )->getHalfExtents().x() * 2 );
}
else if ( g_pConvexShapes[ shapeIndex ]->GetShapeType() == SPHERE_SHAPE_PROXYTYPE )
else if ( g_pConvexShapes[ shapeIndex ]->getShapeType() == SPHERE_SHAPE_PROXYTYPE )
{
glutWireSphere( 1, 16, 16 );
}
@@ -370,7 +370,7 @@ void clientDisplay(void) {
glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
glDisable( GL_LIGHTING );
GL_ShapeDrawer::DrawCoordSystem();
GL_ShapeDrawer::drawCoordSystem();
glMatrixMode( GL_MODELVIEW );