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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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58
Extras/test_BulletOde.cpp
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@@ -179,7 +179,7 @@ static void command (int cmd)
// destroy the body and geoms for slot i
dBodyDestroy (obj[i].body);
collisionWorld->RemoveCollisionObject(&obj[i].collider);
collisionWorld->removeCollisionObject(&obj[i].collider);
obj[i].collider.m_broadphaseHandle = (btBroadphaseProxy*)(-1);
@@ -212,7 +212,7 @@ static void command (int cmd)
dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
obj[i].collider.m_collisionShape = new btBoxShape(btVector3(0.5*sides[0],0.5*sides[1],0.5*sides[2]));
obj[i].collider.m_worldTransform = GetTransformFromOde(dBodyGetPosition(obj[i].body),dBodyGetRotation(obj[i].body));
collisionWorld->AddCollisionObject(&obj[i].collider);
collisionWorld->addCollisionObject(&obj[i].collider);
obj[i].collider.m_userPointer = obj[i].body;
}
@@ -223,7 +223,7 @@ static void command (int cmd)
dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]);
obj[i].collider.m_collisionShape = new btCylinderShapeZ(btVector3(sides[0],sides[1],sides[1]));
obj[i].collider.m_worldTransform = GetTransformFromOde(dBodyGetPosition(obj[i].body),dBodyGetRotation(obj[i].body));
collisionWorld->AddCollisionObject(&obj[i].collider);
collisionWorld->addCollisionObject(&obj[i].collider);
obj[i].collider.m_userPointer = obj[i].body;
//obj[i].geom[0] = dCreateCCylinder (space,sides[0],sides[1]);
}
@@ -242,7 +242,7 @@ static void command (int cmd)
obj[i].collider.m_worldTransform = GetTransformFromOde(dBodyGetPosition(obj[i].body),dBodyGetRotation(obj[i].body));
collisionWorld->AddCollisionObject(&obj[i].collider);
collisionWorld->addCollisionObject(&obj[i].collider);
obj[i].collider.m_userPointer = obj[i].body;
//obj[i].geom[0] = dCreateSphere (space,sides[0]);
@@ -300,21 +300,21 @@ void drawGeom (btCollisionObject& collider)//, const dReal *pos, const dReal *R,
if (!collider.m_collisionShape) return;
int type = collider.m_collisionShape->GetShapeType();
int type = collider.m_collisionShape->getShapeType();
if (type == BOX_SHAPE_PROXYTYPE) {
dVector3 sides;
btBoxShape* boxShape = static_cast<btBoxShape*>(collider.m_collisionShape);
sides[0] = 2.f*boxShape->GetHalfExtents().x();
sides[1] = 2.f*boxShape->GetHalfExtents().y();
sides[2] = 2.f*boxShape->GetHalfExtents().z();
sides[0] = 2.f*boxShape->getHalfExtents().x();
sides[1] = 2.f*boxShape->getHalfExtents().y();
sides[2] = 2.f*boxShape->getHalfExtents().z();
///boxshape already has margins 'inside'
dsDrawBox (pos,R,sides);
}
else if (type == SPHERE_SHAPE_PROXYTYPE) {
btSphereShape* sphereShape = static_cast<btSphereShape*>(collider.m_collisionShape);
dReal radius = sphereShape->GetMargin();
dReal radius = sphereShape->getMargin();
dsDrawSphere (pos,R,radius);
@@ -323,10 +323,10 @@ void drawGeom (btCollisionObject& collider)//, const dReal *pos, const dReal *R,
else if (type == CYLINDER_SHAPE_PROXYTYPE) {
btCylinderShapeZ* cylinder = static_cast<btCylinderShapeZ*>(collider.m_collisionShape);
dReal radius = cylinder->GetHalfExtents()[0];
dReal length = 2.f*cylinder->GetHalfExtents()[1];
radius += cylinder->GetMargin();
length += 2.f*cylinder->GetMargin();
dReal radius = cylinder->getHalfExtents()[0];
dReal length = 2.f*cylinder->getHalfExtents()[1];
radius += cylinder->getMargin();
length += 2.f*cylinder->getMargin();
//dGeomCCylinderGetParams (g,&radius,&length);
dsDrawCylinder (pos,R,length,radius);
@@ -376,21 +376,21 @@ static void simLoop (int pause)
{
dsSetColor (0,0,2);
//dSpaceCollide (space,0,&nearCallback);
collisionWorld->PerformDiscreteCollisionDetection();
collisionWorld->performDiscreteCollisionDetection();
//now the collisionWorld contains all contact points... just copy them over to ODE and that's it
for (int i=0;i<collisionWorld->GetDispatcher()->GetNumManifolds();i++)
for (int i=0;i<collisionWorld->getDispatcher()->getNumManifolds();i++)
{
btPersistentManifold* manifold = collisionWorld->GetDispatcher()->GetManifoldByIndexInternal(i);
btCollisionObject* obj0 = static_cast<btCollisionObject*>(manifold->GetBody0());
btCollisionObject* obj1 = static_cast<btCollisionObject*>(manifold->GetBody1());
btPersistentManifold* manifold = collisionWorld->getDispatcher()->getManifoldByIndexInternal(i);
btCollisionObject* obj0 = static_cast<btCollisionObject*>(manifold->getBody0());
btCollisionObject* obj1 = static_cast<btCollisionObject*>(manifold->getBody1());
//RefreshContactPoints will update and/or remove existing contactpoints from previous frames
manifold->RefreshContactPoints(obj0->m_worldTransform,obj1->m_worldTransform);
for (int j=0;j<manifold->GetNumContacts();j++)
//refreshContactPoints will update and/or remove existing contactpoints from previous frames
manifold->refreshContactPoints(obj0->m_worldTransform,obj1->m_worldTransform);
for (int j=0;j<manifold->getNumContacts();j++)
{
btManifoldPoint& pt = manifold->GetContactPoint(j);
if (pt.GetDistance()<0.f)
btManifoldPoint& pt = manifold->getContactPoint(j);
if (pt.getDistance()<0.f)
{
//report point to ODE
@@ -401,7 +401,7 @@ static void simLoop (int pause)
contact.surface.bounce = 0.1;
contact.surface.bounce_vel = 0.1;
contact.surface.soft_cfm = 0.01;
contact.geom.depth = -pt.GetDistance();
contact.geom.depth = -pt.getDistance();
contact.geom.normal[0] = pt.m_normalWorldOnB.x();
@@ -410,9 +410,9 @@ static void simLoop (int pause)
//contact.geom.g1 does it really need this?
contact.geom.g1 = 0;
contact.geom.g2 = 0;
contact.geom.pos[0] = pt.GetPositionWorldOnB().x();
contact.geom.pos[1] = pt.GetPositionWorldOnB().y();
contact.geom.pos[2] = pt.GetPositionWorldOnB().z();
contact.geom.pos[0] = pt.getPositionWorldOnB().x();
contact.geom.pos[1] = pt.getPositionWorldOnB().y();
contact.geom.pos[2] = pt.getPositionWorldOnB().z();
contact.fdir1[0] = 0.f;
contact.fdir1[1] = 0.f;
@@ -513,8 +513,8 @@ int main (int argc, char **argv)
btCollisionObject groundPlane;
groundPlane.m_worldTransform.setIdentity();
groundPlane.m_collisionShape = new btBoxShape(btVector3(50,50,0.04));
groundPlane.m_collisionShape->SetMargin(0.005f);
collisionWorld->AddCollisionObject(&groundPlane);
groundPlane.m_collisionShape->setMargin(0.005f);
collisionWorld->addCollisionObject(&groundPlane);
groundPlane.m_userPointer = 0;
memset (obj,0,sizeof(obj));