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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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28
src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
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@@ -32,10 +32,10 @@ struct MyResult : public btDiscreteCollisionDetectorInterface::Result
float m_depth;
bool m_hasResult;
virtual void SetShapeIdentifiers(int partId0,int index0, int partId1,int index1)
virtual void setShapeIdentifiers(int partId0,int index0, int partId1,int index1)
{
}
void AddContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,float depth)
void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,float depth)
{
m_normalOnBInWorld = normalOnBInWorld;
m_pointInWorld = pointInWorld;
@@ -92,7 +92,7 @@ btVector3(0.162456f , 0.499995f,0.850654f)
};
bool btMinkowskiPenetrationDepthSolver::CalcPenDepth(btSimplexSolverInterface& simplexSolver,
bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simplexSolver,
btConvexShape* convexA,btConvexShape* convexB,
const btTransform& transA,const btTransform& transB,
btVector3& v, btPoint3& pa, btPoint3& pb,
@@ -123,8 +123,8 @@ bool btMinkowskiPenetrationDepthSolver::CalcPenDepth(btSimplexSolverInterface& s
seperatingAxisInBBatch[i] = norm * transB.getBasis();
}
convexA->BatchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInABatch,supportVerticesABatch,NUM_UNITSPHERE_POINTS);
convexB->BatchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInBBatch,supportVerticesBBatch,NUM_UNITSPHERE_POINTS);
convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInABatch,supportVerticesABatch,NUM_UNITSPHERE_POINTS);
convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInBBatch,supportVerticesBBatch,NUM_UNITSPHERE_POINTS);
for (i=0;i<NUM_UNITSPHERE_POINTS;i++)
{
const btVector3& norm = sPenetrationDirections[i];
@@ -153,8 +153,8 @@ bool btMinkowskiPenetrationDepthSolver::CalcPenDepth(btSimplexSolverInterface& s
const btVector3& norm = sPenetrationDirections[i];
seperatingAxisInA = (-norm)* transA.getBasis();
seperatingAxisInB = norm* transB.getBasis();
pInA = convexA->LocalGetSupportingVertexWithoutMargin(seperatingAxisInA);
qInB = convexB->LocalGetSupportingVertexWithoutMargin(seperatingAxisInB);
pInA = convexA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
qInB = convexB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
pWorld = transA(pInA);
qWorld = transB(qInB);
w = qWorld - pWorld;
@@ -172,9 +172,9 @@ bool btMinkowskiPenetrationDepthSolver::CalcPenDepth(btSimplexSolverInterface& s
//add the margins
minA += minNorm*convexA->GetMargin();
minB -= minNorm*convexB->GetMargin();
minProj += (convexA->GetMargin() + convexB->GetMargin());
minA += minNorm*convexA->getMargin();
minB -= minNorm*convexB->getMargin();
minProj += (convexA->getMargin() + convexB->getMargin());
@@ -184,11 +184,11 @@ bool btMinkowskiPenetrationDepthSolver::CalcPenDepth(btSimplexSolverInterface& s
if (debugDraw)
{
btVector3 color(0,1,0);
debugDraw->DrawLine(minA,minB,color);
debugDraw->drawLine(minA,minB,color);
color = btVector3 (1,1,1);
btVector3 vec = minB-minA;
float prj2 = minNorm.dot(vec);
debugDraw->DrawLine(minA,minA+(minNorm*minProj),color);
debugDraw->drawLine(minA,minA+(minNorm*minProj),color);
}
#endif //DEBUG_DRAW
@@ -214,7 +214,7 @@ bool btMinkowskiPenetrationDepthSolver::CalcPenDepth(btSimplexSolverInterface& s
input.m_maximumDistanceSquared = 1e30f;//minProj;
MyResult res;
gjkdet.GetClosestPoints(input,res,debugDraw);
gjkdet.getClosestPoints(input,res,debugDraw);
float correctedMinNorm = minProj - res.m_depth;
@@ -233,7 +233,7 @@ bool btMinkowskiPenetrationDepthSolver::CalcPenDepth(btSimplexSolverInterface& s
if (debugDraw)
{
btVector3 color(1,0,0);
debugDraw->DrawLine(pa,pb,color);
debugDraw->drawLine(pa,pb,color);
}
#endif//DEBUG_DRAW