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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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26
Extras/ExtraSolid35/Solid3EpaPenetrationDepth.cpp
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@@ -317,7 +317,7 @@ inline bool originInTetrahedron(const btVector3& p1, const btVector3& p2,
bool Solid3EpaPenetrationDepth::CalcPenDepth( btSimplexSolverInterface& simplexSolver,
bool Solid3EpaPenetrationDepth::calcPenDepth( btSimplexSolverInterface& simplexSolver,
btConvexShape* convexA,btConvexShape* convexB,
const btTransform& transformA,const btTransform& transformB,
btVector3& v, btPoint3& pa, btPoint3& pb)
@@ -348,16 +348,16 @@ bool Solid3EpaPenetrationDepth::CalcPenDepth( btSimplexSolverInterface& simplexS
btVector3 aux2 = rot_mat * aux1;
btVector3 aux3 = rot_mat * aux2;
pBuf[2] = transformA(convexA->LocalGetSupportingVertex(aux1*transformA.getBasis()));
qBuf[2] = transformB(convexB->LocalGetSupportingVertex((-aux1)*transformB.getBasis()));
pBuf[2] = transformA(convexA->localGetSupportingVertex(aux1*transformA.getBasis()));
qBuf[2] = transformB(convexB->localGetSupportingVertex((-aux1)*transformB.getBasis()));
yBuf[2] = pBuf[2] - qBuf[2];
pBuf[3] = transformA(convexA->LocalGetSupportingVertex(aux2*transformA.getBasis()));
qBuf[3] = transformB(convexB->LocalGetSupportingVertex((-aux2)*transformB.getBasis()));
pBuf[3] = transformA(convexA->localGetSupportingVertex(aux2*transformA.getBasis()));
qBuf[3] = transformB(convexB->localGetSupportingVertex((-aux2)*transformB.getBasis()));
yBuf[3] = pBuf[3] - qBuf[3];
pBuf[4] = transformA(convexA->LocalGetSupportingVertex(aux3*transformA.getBasis()));
qBuf[4] = transformB(convexB->LocalGetSupportingVertex((-aux3)*transformB.getBasis()));
pBuf[4] = transformA(convexA->localGetSupportingVertex(aux3*transformA.getBasis()));
qBuf[4] = transformB(convexB->localGetSupportingVertex((-aux3)*transformB.getBasis()));
yBuf[4] = pBuf[4] - qBuf[4];
if (originInTetrahedron(yBuf[0], yBuf[2], yBuf[3], yBuf[4]))
@@ -391,11 +391,11 @@ bool Solid3EpaPenetrationDepth::CalcPenDepth( btSimplexSolverInterface& simplexS
btVector3 v2 = yBuf[2] - yBuf[0];
btVector3 vv = v1.cross(v2);
pBuf[3] = transformA(convexA->LocalGetSupportingVertex(vv*transformA.getBasis()));
qBuf[3] = transformB(convexB->LocalGetSupportingVertex((-vv)*transformB.getBasis()));
pBuf[3] = transformA(convexA->localGetSupportingVertex(vv*transformA.getBasis()));
qBuf[3] = transformB(convexB->localGetSupportingVertex((-vv)*transformB.getBasis()));
yBuf[3] = pBuf[3] - qBuf[3];
pBuf[4] = transformA(convexA->LocalGetSupportingVertex((-vv)*transformA.getBasis()));
qBuf[4] = transformB(convexB->LocalGetSupportingVertex(vv*transformB.getBasis()));
pBuf[4] = transformA(convexA->localGetSupportingVertex((-vv)*transformA.getBasis()));
qBuf[4] = transformB(convexB->localGetSupportingVertex(vv*transformB.getBasis()));
yBuf[4] = pBuf[4] - qBuf[4];
@@ -481,8 +481,8 @@ bool Solid3EpaPenetrationDepth::CalcPenDepth( btSimplexSolverInterface& simplexS
break;
}
pBuf[num_verts] = transformA(convexA->LocalGetSupportingVertex((facet->getClosest())*transformA.getBasis()));
qBuf[num_verts] = transformB(convexB->LocalGetSupportingVertex((-facet->getClosest())*transformB.getBasis()));
pBuf[num_verts] = transformA(convexA->localGetSupportingVertex((facet->getClosest())*transformA.getBasis()));
qBuf[num_verts] = transformB(convexB->localGetSupportingVertex((-facet->getClosest())*transformB.getBasis()));
yBuf[num_verts] = pBuf[num_verts] - qBuf[num_verts];