Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

70
src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
View File

@@ -48,27 +48,27 @@ btConvexTriangleCallback::btConvexTriangleCallback(btDispatcher* dispatcher,btB
//
// create the manifold from the dispatcher 'manifold pool'
//
m_manifoldPtr = m_dispatcher->GetNewManifold(proxy0->m_clientObject,proxy1->m_clientObject);
m_manifoldPtr = m_dispatcher->getNewManifold(proxy0->m_clientObject,proxy1->m_clientObject);
ClearCache();
clearCache();
}
btConvexTriangleCallback::~btConvexTriangleCallback()
{
ClearCache();
m_dispatcher->ReleaseManifold( m_manifoldPtr );
clearCache();
m_dispatcher->releaseManifold( m_manifoldPtr );
}
void btConvexTriangleCallback::ClearCache()
void btConvexTriangleCallback::clearCache()
{
m_dispatcher->ClearManifold(m_manifoldPtr);
m_dispatcher->clearManifold(m_manifoldPtr);
};
void btConvexTriangleCallback::ProcessTriangle(btVector3* triangle,int partId, int triangleIndex)
void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
{
//just for debugging purposes
@@ -85,29 +85,29 @@ void btConvexTriangleCallback::ProcessTriangle(btVector3* triangle,int partId, i
///debug drawing of the overlapping triangles
if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && m_dispatchInfoPtr->m_debugDraw->GetDebugMode() > 0)
if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && m_dispatchInfoPtr->m_debugDraw->getDebugMode() > 0)
{
btVector3 color(255,255,0);
btTransform& tr = ob->m_worldTransform;
m_dispatchInfoPtr->m_debugDraw->DrawLine(tr(triangle[0]),tr(triangle[1]),color);
m_dispatchInfoPtr->m_debugDraw->DrawLine(tr(triangle[1]),tr(triangle[2]),color);
m_dispatchInfoPtr->m_debugDraw->DrawLine(tr(triangle[2]),tr(triangle[0]),color);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(triangle[2]),color);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(triangle[0]),color);
//btVector3 center = triangle[0] + triangle[1]+triangle[2];
//center *= 0.333333f;
//m_dispatchInfoPtr->m_debugDraw->DrawLine(tr(triangle[0]),tr(center),color);
//m_dispatchInfoPtr->m_debugDraw->DrawLine(tr(triangle[1]),tr(center),color);
//m_dispatchInfoPtr->m_debugDraw->DrawLine(tr(triangle[2]),tr(center),color);
//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(center),color);
//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(center),color);
//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(center),color);
}
btCollisionObject* colObj = static_cast<btCollisionObject*>(m_convexProxy->m_clientObject);
if (colObj->m_collisionShape->IsConvex())
if (colObj->m_collisionShape->isConvex())
{
btTriangleShape tm(triangle[0],triangle[1],triangle[2]);
tm.SetMargin(m_collisionMarginTriangle);
tm.setMargin(m_collisionMarginTriangle);
btCollisionShape* tmpShape = ob->m_collisionShape;
@@ -115,8 +115,8 @@ void btConvexTriangleCallback::ProcessTriangle(btVector3* triangle,int partId, i
///this should use the btDispatcher, so the actual registered algorithm is used
btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexProxy,&m_triangleProxy);
cvxcvxalgo.SetShapeIdentifiers(-1,-1,partId,triangleIndex);
cvxcvxalgo.ProcessCollision(m_convexProxy,&m_triangleProxy,*m_dispatchInfoPtr);
cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex);
cvxcvxalgo.processCollision(m_convexProxy,&m_triangleProxy,*m_dispatchInfoPtr);
ob->m_collisionShape = tmpShape;
}
@@ -127,7 +127,7 @@ void btConvexTriangleCallback::ProcessTriangle(btVector3* triangle,int partId, i
void btConvexTriangleCallback::SetTimeStepAndCounters(float collisionMarginTriangle,const btDispatcherInfo& dispatchInfo)
void btConvexTriangleCallback::setTimeStepAndCounters(float collisionMarginTriangle,const btDispatcherInfo& dispatchInfo)
{
m_dispatchInfoPtr = &dispatchInfo;
m_collisionMarginTriangle = collisionMarginTriangle;
@@ -142,7 +142,7 @@ void btConvexTriangleCallback::SetTimeStepAndCounters(float collisionMarginTrian
btCollisionShape* convexShape = static_cast<btCollisionShape*>(convexBody->m_collisionShape);
//CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape);
convexShape->GetAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax);
convexShape->getAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax);
float extraMargin = collisionMarginTriangle;//CONVEX_DISTANCE_MARGIN;//+0.1f;
@@ -153,22 +153,22 @@ void btConvexTriangleCallback::SetTimeStepAndCounters(float collisionMarginTrian
}
void btConvexConcaveCollisionAlgorithm::ClearCache()
void btConvexConcaveCollisionAlgorithm::clearCache()
{
m_btConvexTriangleCallback.ClearCache();
m_btConvexTriangleCallback.clearCache();
}
void btConvexConcaveCollisionAlgorithm::ProcessCollision (btBroadphaseProxy* ,btBroadphaseProxy* ,const btDispatcherInfo& dispatchInfo)
void btConvexConcaveCollisionAlgorithm::processCollision (btBroadphaseProxy* ,btBroadphaseProxy* ,const btDispatcherInfo& dispatchInfo)
{
btCollisionObject* convexBody = static_cast<btCollisionObject* >(m_convex.m_clientObject);
btCollisionObject* triBody = static_cast<btCollisionObject* >(m_concave.m_clientObject);
if (triBody->m_collisionShape->IsConcave())
if (triBody->m_collisionShape->isConcave())
{
if (!m_dispatcher->NeedsCollision(m_convex,m_concave))
if (!m_dispatcher->needsCollision(m_convex,m_concave))
return;
@@ -176,19 +176,19 @@ void btConvexConcaveCollisionAlgorithm::ProcessCollision (btBroadphaseProxy* ,bt
btCollisionObject* triOb = static_cast<btCollisionObject*>(m_concave.m_clientObject);
ConcaveShape* concaveShape = static_cast<ConcaveShape*>( triOb->m_collisionShape);
if (convexBody->m_collisionShape->IsConvex())
if (convexBody->m_collisionShape->isConvex())
{
float collisionMarginTriangle = concaveShape->GetMargin();
float collisionMarginTriangle = concaveShape->getMargin();
m_btConvexTriangleCallback.SetTimeStepAndCounters(collisionMarginTriangle,dispatchInfo);
m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo);
//Disable persistency. previously, some older algorithm calculated all contacts in one go, so you can clear it here.
//m_dispatcher->ClearManifold(m_btConvexTriangleCallback.m_manifoldPtr);
//m_dispatcher->clearManifold(m_btConvexTriangleCallback.m_manifoldPtr);
m_btConvexTriangleCallback.m_manifoldPtr->SetBodies(m_convex.m_clientObject,m_concave.m_clientObject);
m_btConvexTriangleCallback.m_manifoldPtr->setBodies(m_convex.m_clientObject,m_concave.m_clientObject);
concaveShape->ProcessAllTriangles( &m_btConvexTriangleCallback,m_btConvexTriangleCallback.GetAabbMin(),m_btConvexTriangleCallback.GetAabbMax());
concaveShape->processAllTriangles( &m_btConvexTriangleCallback,m_btConvexTriangleCallback.getAabbMin(),m_btConvexTriangleCallback.getAabbMax());
}
@@ -198,7 +198,7 @@ void btConvexConcaveCollisionAlgorithm::ProcessCollision (btBroadphaseProxy* ,bt
}
float btConvexConcaveCollisionAlgorithm::CalculateTimeOfImpact(btBroadphaseProxy* ,btBroadphaseProxy* ,const btDispatcherInfo& dispatchInfo)
float btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btBroadphaseProxy* ,btBroadphaseProxy* ,const btDispatcherInfo& dispatchInfo)
{
//quick approximation using raycast, todo: hook up to the continuous collision detection (one of the btConvexCast)
@@ -239,7 +239,7 @@ float btConvexConcaveCollisionAlgorithm::CalculateTimeOfImpact(btBroadphaseProxy
}
virtual void ProcessTriangle(btVector3* triangle, int partId, int triangleIndex)
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
{
//do a swept sphere for now
btTransform ident;
@@ -269,7 +269,7 @@ float btConvexConcaveCollisionAlgorithm::CalculateTimeOfImpact(btBroadphaseProxy
if (triBody->m_collisionShape->IsConcave())
if (triBody->m_collisionShape->isConcave())
{
btVector3 rayAabbMin = convexFromLocal.getOrigin();
rayAabbMin.setMin(convexToLocal.getOrigin());
@@ -290,7 +290,7 @@ float btConvexConcaveCollisionAlgorithm::CalculateTimeOfImpact(btBroadphaseProxy
if (triangleMesh)
{
triangleMesh->ProcessAllTriangles(&raycastCallback,rayAabbMin,rayAabbMax);
triangleMesh->processAllTriangles(&raycastCallback,rayAabbMin,rayAabbMax);
}