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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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30
Extras/EPA/Epa.cpp
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@@ -73,8 +73,8 @@ bool Epa::Initialize( btSimplexSolverInterface& simplexSolver )
btVector3 seperatingAxisInA = -v * m_transformA.getBasis();
btVector3 seperatingAxisInB = v * m_transformB.getBasis();
btVector3 pInA = m_pConvexShapeA->LocalGetSupportingVertex( seperatingAxisInA );
btVector3 qInB = m_pConvexShapeB->LocalGetSupportingVertex( seperatingAxisInB );
btVector3 pInA = m_pConvexShapeA->localGetSupportingVertex( seperatingAxisInA );
btVector3 qInB = m_pConvexShapeB->localGetSupportingVertex( seperatingAxisInB );
btPoint3 pWorld = m_transformA( pInA );
btPoint3 qWorld = m_transformB( qInB );
@@ -189,8 +189,8 @@ bool Epa::Initialize( btSimplexSolverInterface& simplexSolver )
btVector3 seperatingAxisInA = v1 * m_transformA.getBasis();
btVector3 seperatingAxisInB = -v1 * m_transformB.getBasis();
btVector3 p = m_pConvexShapeA->LocalGetSupportingVertex( seperatingAxisInA );
btVector3 q = m_pConvexShapeB->LocalGetSupportingVertex( seperatingAxisInB );
btVector3 p = m_pConvexShapeA->localGetSupportingVertex( seperatingAxisInA );
btVector3 q = m_pConvexShapeB->localGetSupportingVertex( seperatingAxisInB );
btPoint3 pWorld = m_transformA( p );
btPoint3 qWorld = m_transformB( q );
@@ -202,8 +202,8 @@ bool Epa::Initialize( btSimplexSolverInterface& simplexSolver )
seperatingAxisInA = v2 * m_transformA.getBasis();
seperatingAxisInB = -v2 * m_transformB.getBasis();
p = m_pConvexShapeA->LocalGetSupportingVertex( seperatingAxisInA );
q = m_pConvexShapeB->LocalGetSupportingVertex( seperatingAxisInB );
p = m_pConvexShapeA->localGetSupportingVertex( seperatingAxisInA );
q = m_pConvexShapeB->localGetSupportingVertex( seperatingAxisInB );
pWorld = m_transformA( p );
qWorld = m_transformB( q );
@@ -215,8 +215,8 @@ bool Epa::Initialize( btSimplexSolverInterface& simplexSolver )
seperatingAxisInA = v3 * m_transformA.getBasis();
seperatingAxisInB = -v3 * m_transformB.getBasis();
p = m_pConvexShapeA->LocalGetSupportingVertex( seperatingAxisInA );
q = m_pConvexShapeB->LocalGetSupportingVertex( seperatingAxisInB );
p = m_pConvexShapeA->localGetSupportingVertex( seperatingAxisInA );
q = m_pConvexShapeB->localGetSupportingVertex( seperatingAxisInB );
pWorld = m_transformA( p );
qWorld = m_transformB( q );
@@ -265,8 +265,8 @@ bool Epa::Initialize( btSimplexSolverInterface& simplexSolver )
btVector3 seperatingAxisInA = triangleNormal * m_transformA.getBasis();
btVector3 seperatingAxisInB = -triangleNormal * m_transformB.getBasis();
btVector3 p = m_pConvexShapeA->LocalGetSupportingVertex( seperatingAxisInA );
btVector3 q = m_pConvexShapeB->LocalGetSupportingVertex( seperatingAxisInB );
btVector3 p = m_pConvexShapeA->localGetSupportingVertex( seperatingAxisInA );
btVector3 q = m_pConvexShapeB->localGetSupportingVertex( seperatingAxisInB );
btPoint3 pWorld = m_transformA( p );
btPoint3 qWorld = m_transformB( q );
@@ -284,8 +284,8 @@ bool Epa::Initialize( btSimplexSolverInterface& simplexSolver )
seperatingAxisInA = -triangleNormal * m_transformA.getBasis();
seperatingAxisInB = triangleNormal * m_transformB.getBasis();
p = m_pConvexShapeA->LocalGetSupportingVertex( seperatingAxisInA );
q = m_pConvexShapeB->LocalGetSupportingVertex( seperatingAxisInB );
p = m_pConvexShapeA->localGetSupportingVertex( seperatingAxisInA );
q = m_pConvexShapeB->localGetSupportingVertex( seperatingAxisInB );
pWorld = m_transformA( p );
qWorld = m_transformB( q );
@@ -398,7 +398,7 @@ bool Epa::Initialize( btSimplexSolverInterface& simplexSolver )
return true;
}
btScalar Epa::CalcPenDepth( btPoint3& wWitnessOnA, btPoint3& wWitnessOnB )
btScalar Epa::calcPenDepth( btPoint3& wWitnessOnA, btPoint3& wWitnessOnB )
{
btVector3 v;
@@ -448,8 +448,8 @@ btScalar Epa::CalcPenDepth( btPoint3& wWitnessOnA, btPoint3& wWitnessOnB )
btVector3 seperatingAxisInA = v * m_transformA.getBasis();
btVector3 seperatingAxisInB = -v * m_transformB.getBasis();
btVector3 p = m_pConvexShapeA->LocalGetSupportingVertex( seperatingAxisInA );
btVector3 q = m_pConvexShapeB->LocalGetSupportingVertex( seperatingAxisInB );
btVector3 p = m_pConvexShapeA->localGetSupportingVertex( seperatingAxisInA );
btVector3 q = m_pConvexShapeB->localGetSupportingVertex( seperatingAxisInB );
btPoint3 pWorld = m_transformA( p );
btPoint3 qWorld = m_transformB( q );

2
Extras/EPA/Epa.h
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@@ -40,7 +40,7 @@ class Epa
bool Initialize( btSimplexSolverInterface& simplexSolver );
btScalar CalcPenDepth( btPoint3& wWitnessOnA, btPoint3& wWitnessOnB );
btScalar calcPenDepth( btPoint3& wWitnessOnA, btPoint3& wWitnessOnB );
private :

28
Extras/EPA/EpaPenetrationDepthSolver.cpp
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@@ -39,7 +39,7 @@ subject to the following restrictions:
btScalar g_GJKMaxRelError = 1e-3f;
btScalar g_GJKMaxRelErrorSqrd = g_GJKMaxRelError * g_GJKMaxRelError;
bool EpaPenetrationDepthSolver::CalcPenDepth( btSimplexSolverInterface& simplexSolver,
bool EpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver,
btConvexShape* pConvexA, btConvexShape* pConvexB,
const btTransform& transformA, const btTransform& transformB,
btVector3& v, btPoint3& wWitnessOnA, btPoint3& wWitnessOnB,
@@ -79,7 +79,7 @@ bool EpaPenetrationDepthSolver::HybridPenDepth( btSimplexSolverInterface& simple
btScalar squaredDistance = SIMD_INFINITY;
btScalar delta = 0.f;
const btScalar margin = pConvexA->GetMargin() + pConvexB->GetMargin();
const btScalar margin = pConvexA->getMargin() + pConvexB->getMargin();
const btScalar marginSqrd = margin * margin;
simplexSolver.reset();
@@ -93,8 +93,8 @@ bool EpaPenetrationDepthSolver::HybridPenDepth( btSimplexSolverInterface& simple
btVector3 seperatingAxisInA = -v * transformA.getBasis();
btVector3 seperatingAxisInB = v * transformB.getBasis();
btVector3 pInA = pConvexA->LocalGetSupportingVertexWithoutMargin( seperatingAxisInA );
btVector3 qInB = pConvexB->LocalGetSupportingVertexWithoutMargin( seperatingAxisInB );
btVector3 pInA = pConvexA->localGetSupportingVertexWithoutMargin( seperatingAxisInA );
btVector3 qInB = pConvexB->localGetSupportingVertexWithoutMargin( seperatingAxisInB );
btPoint3 pWorld = transformA( pInA );
btPoint3 qWorld = transformB( qInB );
@@ -119,10 +119,10 @@ bool EpaPenetrationDepthSolver::HybridPenDepth( btSimplexSolverInterface& simple
assert( ( squaredDistance > 0 ) && "squaredDistance is zero!" );
btScalar vLength = sqrt( squaredDistance );
wWitnessOnA -= v * ( pConvexA->GetMargin() / vLength );
wWitnessOnB += v * ( pConvexB->GetMargin() / vLength );
wWitnessOnA -= v * ( pConvexA->getMargin() / vLength );
wWitnessOnB += v * ( pConvexB->getMargin() / vLength );
penDepth = pConvexA->GetMargin() + pConvexB->GetMargin() - vLength;
penDepth = pConvexA->getMargin() + pConvexB->getMargin() - vLength;
// Returning true means that Hybrid's result is ok and there's no need to run EPA
return true;
@@ -139,10 +139,10 @@ bool EpaPenetrationDepthSolver::HybridPenDepth( btSimplexSolverInterface& simple
assert( ( squaredDistance > 0 ) && "squaredDistance is zero!" );
btScalar vLength = sqrt( squaredDistance );
wWitnessOnA -= v * ( pConvexA->GetMargin() / vLength );
wWitnessOnB += v * ( pConvexB->GetMargin() / vLength );
wWitnessOnA -= v * ( pConvexA->getMargin() / vLength );
wWitnessOnB += v * ( pConvexB->getMargin() / vLength );
penDepth = pConvexA->GetMargin() + pConvexB->GetMargin() - vLength;
penDepth = pConvexA->getMargin() + pConvexB->getMargin() - vLength;
// Returning true means that Hybrid's result is ok and there's no need to run EPA
return true;
@@ -162,10 +162,10 @@ bool EpaPenetrationDepthSolver::HybridPenDepth( btSimplexSolverInterface& simple
assert( ( squaredDistance > 0 ) && "squaredDistance is zero!" );
btScalar vLength = sqrt( squaredDistance );
wWitnessOnA -= v * ( pConvexA->GetMargin() / vLength );
wWitnessOnB += v * ( pConvexB->GetMargin() / vLength );
wWitnessOnA -= v * ( pConvexA->getMargin() / vLength );
wWitnessOnB += v * ( pConvexB->getMargin() / vLength );
penDepth = pConvexA->GetMargin() + pConvexB->GetMargin() - vLength;
penDepth = pConvexA->getMargin() + pConvexB->getMargin() - vLength;
// Returning true means that Hybrid's result is ok and there's no need to run EPA
return true;
@@ -197,6 +197,6 @@ btScalar EpaPenetrationDepthSolver::EpaPenDepth( btSimplexSolverInterface& simpl
return 0;
}
return epa.CalcPenDepth( wWitnessOnA, wWitnessOnB );
return epa.calcPenDepth( wWitnessOnA, wWitnessOnB );
}

2
Extras/EPA/EpaPenetrationDepthSolver.h
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@@ -30,7 +30,7 @@ class EpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver
{
public :
bool CalcPenDepth( btSimplexSolverInterface& simplexSolver,
bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
btConvexShape* pConvexA, btConvexShape* pConvexB,
const btTransform& transformA, const btTransform& transformB,
btVector3& v, btPoint3& wWitnessOnA, btPoint3& wWitnessOnB,