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

80
src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
View File

@@ -44,7 +44,7 @@ void btVoronoiSimplexSolver::removeVertex(int index)
m_simplexPointsQ[index] = m_simplexPointsQ[m_numVertices];
}
void btVoronoiSimplexSolver::ReduceVertices (const btUsageBitfield& usedVerts)
void btVoronoiSimplexSolver::reduceVertices (const btUsageBitfield& usedVerts)
{
if ((numVertices() >= 4) && (!usedVerts.usedVertexD))
removeVertex(3);
@@ -71,7 +71,7 @@ void btVoronoiSimplexSolver::reset()
m_numVertices = 0;
m_needsUpdate = true;
m_lastW = btVector3(1e30f,1e30f,1e30f);
m_cachedBC.Reset();
m_cachedBC.reset();
}
@@ -89,12 +89,12 @@ void btVoronoiSimplexSolver::addVertex(const btVector3& w, const btPoint3& p, co
m_numVertices++;
}
bool btVoronoiSimplexSolver::UpdateClosestVectorAndPoints()
bool btVoronoiSimplexSolver::updateClosestVectorAndPoints()
{
if (m_needsUpdate)
{
m_cachedBC.Reset();
m_cachedBC.reset();
m_needsUpdate = false;
@@ -108,9 +108,9 @@ bool btVoronoiSimplexSolver::UpdateClosestVectorAndPoints()
m_cachedP1 = m_simplexPointsP[0];
m_cachedP2 = m_simplexPointsQ[0];
m_cachedV = m_cachedP1-m_cachedP2; //== m_simplexVectorW[0]
m_cachedBC.Reset();
m_cachedBC.SetBarycentricCoordinates(1.f,0.f,0.f,0.f);
m_cachedValidClosest = m_cachedBC.IsValid();
m_cachedBC.reset();
m_cachedBC.setBarycentricCoordinates(1.f,0.f,0.f,0.f);
m_cachedValidClosest = m_cachedBC.isValid();
break;
};
case 2:
@@ -144,16 +144,16 @@ bool btVoronoiSimplexSolver::UpdateClosestVectorAndPoints()
//reduce to 1 point
m_cachedBC.m_usedVertices.usedVertexA = true;
}
m_cachedBC.SetBarycentricCoordinates(1-t,t);
m_cachedBC.setBarycentricCoordinates(1-t,t);
nearest = from + t*v;
m_cachedP1 = m_simplexPointsP[0] + t * (m_simplexPointsP[1] - m_simplexPointsP[0]);
m_cachedP2 = m_simplexPointsQ[0] + t * (m_simplexPointsQ[1] - m_simplexPointsQ[0]);
m_cachedV = m_cachedP1 - m_cachedP2;
ReduceVertices(m_cachedBC.m_usedVertices);
reduceVertices(m_cachedBC.m_usedVertices);
m_cachedValidClosest = m_cachedBC.IsValid();
m_cachedValidClosest = m_cachedBC.isValid();
break;
}
case 3:
@@ -165,7 +165,7 @@ bool btVoronoiSimplexSolver::UpdateClosestVectorAndPoints()
const btVector3& b = m_simplexVectorW[1];
const btVector3& c = m_simplexVectorW[2];
ClosestPtPointTriangle(p,a,b,c,m_cachedBC);
closestPtPointTriangle(p,a,b,c,m_cachedBC);
m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] +
m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] +
m_simplexPointsP[2] * m_cachedBC.m_barycentricCoords[2] +
@@ -178,8 +178,8 @@ bool btVoronoiSimplexSolver::UpdateClosestVectorAndPoints()
m_cachedV = m_cachedP1-m_cachedP2;
ReduceVertices (m_cachedBC.m_usedVertices);
m_cachedValidClosest = m_cachedBC.IsValid();
reduceVertices (m_cachedBC.m_usedVertices);
m_cachedValidClosest = m_cachedBC.isValid();
break;
}
@@ -194,7 +194,7 @@ bool btVoronoiSimplexSolver::UpdateClosestVectorAndPoints()
const btVector3& c = m_simplexVectorW[2];
const btVector3& d = m_simplexVectorW[3];
bool hasSeperation = ClosestPtPointTetrahedron(p,a,b,c,d,m_cachedBC);
bool hasSeperation = closestPtPointTetrahedron(p,a,b,c,d,m_cachedBC);
if (hasSeperation)
{
@@ -210,7 +210,7 @@ bool btVoronoiSimplexSolver::UpdateClosestVectorAndPoints()
m_simplexPointsQ[3] * m_cachedBC.m_barycentricCoords[3];
m_cachedV = m_cachedP1-m_cachedP2;
ReduceVertices (m_cachedBC.m_usedVertices);
reduceVertices (m_cachedBC.m_usedVertices);
} else
{
// printf("sub distance got penetration\n");
@@ -227,7 +227,7 @@ bool btVoronoiSimplexSolver::UpdateClosestVectorAndPoints()
break;
}
m_cachedValidClosest = m_cachedBC.IsValid();
m_cachedValidClosest = m_cachedBC.isValid();
//closest point origin from tetrahedron
break;
@@ -246,7 +246,7 @@ bool btVoronoiSimplexSolver::UpdateClosestVectorAndPoints()
//return/calculate the closest vertex
bool btVoronoiSimplexSolver::closest(btVector3& v)
{
bool succes = UpdateClosestVectorAndPoints();
bool succes = updateClosestVectorAndPoints();
v = m_cachedV;
return succes;
}
@@ -318,7 +318,7 @@ bool btVoronoiSimplexSolver::emptySimplex() const
void btVoronoiSimplexSolver::compute_points(btPoint3& p1, btPoint3& p2)
{
UpdateClosestVectorAndPoints();
updateClosestVectorAndPoints();
p1 = m_cachedP1;
p2 = m_cachedP2;
@@ -327,7 +327,7 @@ void btVoronoiSimplexSolver::compute_points(btPoint3& p1, btPoint3& p2)
bool btVoronoiSimplexSolver::ClosestPtPointTriangle(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c,btSubSimplexClosestResult& result)
bool btVoronoiSimplexSolver::closestPtPointTriangle(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c,btSubSimplexClosestResult& result)
{
result.m_usedVertices.reset();
@@ -341,7 +341,7 @@ bool btVoronoiSimplexSolver::ClosestPtPointTriangle(const btPoint3& p, const btP
{
result.m_closestPointOnSimplex = a;
result.m_usedVertices.usedVertexA = true;
result.SetBarycentricCoordinates(1,0,0);
result.setBarycentricCoordinates(1,0,0);
return true;// a; // barycentric coordinates (1,0,0)
}
@@ -353,7 +353,7 @@ bool btVoronoiSimplexSolver::ClosestPtPointTriangle(const btPoint3& p, const btP
{
result.m_closestPointOnSimplex = b;
result.m_usedVertices.usedVertexB = true;
result.SetBarycentricCoordinates(0,1,0);
result.setBarycentricCoordinates(0,1,0);
return true; // b; // barycentric coordinates (0,1,0)
}
@@ -364,7 +364,7 @@ bool btVoronoiSimplexSolver::ClosestPtPointTriangle(const btPoint3& p, const btP
result.m_closestPointOnSimplex = a + v * ab;
result.m_usedVertices.usedVertexA = true;
result.m_usedVertices.usedVertexB = true;
result.SetBarycentricCoordinates(1-v,v,0);
result.setBarycentricCoordinates(1-v,v,0);
return true;
//return a + v * ab; // barycentric coordinates (1-v,v,0)
}
@@ -377,7 +377,7 @@ bool btVoronoiSimplexSolver::ClosestPtPointTriangle(const btPoint3& p, const btP
{
result.m_closestPointOnSimplex = c;
result.m_usedVertices.usedVertexC = true;
result.SetBarycentricCoordinates(0,0,1);
result.setBarycentricCoordinates(0,0,1);
return true;//c; // barycentric coordinates (0,0,1)
}
@@ -388,7 +388,7 @@ bool btVoronoiSimplexSolver::ClosestPtPointTriangle(const btPoint3& p, const btP
result.m_closestPointOnSimplex = a + w * ac;
result.m_usedVertices.usedVertexA = true;
result.m_usedVertices.usedVertexC = true;
result.SetBarycentricCoordinates(1-w,0,w);
result.setBarycentricCoordinates(1-w,0,w);
return true;
//return a + w * ac; // barycentric coordinates (1-w,0,w)
}
@@ -401,7 +401,7 @@ bool btVoronoiSimplexSolver::ClosestPtPointTriangle(const btPoint3& p, const btP
result.m_closestPointOnSimplex = b + w * (c - b);
result.m_usedVertices.usedVertexB = true;
result.m_usedVertices.usedVertexC = true;
result.SetBarycentricCoordinates(0,1-w,w);
result.setBarycentricCoordinates(0,1-w,w);
return true;
// return b + w * (c - b); // barycentric coordinates (0,1-w,w)
}
@@ -415,7 +415,7 @@ bool btVoronoiSimplexSolver::ClosestPtPointTriangle(const btPoint3& p, const btP
result.m_usedVertices.usedVertexA = true;
result.m_usedVertices.usedVertexB = true;
result.m_usedVertices.usedVertexC = true;
result.SetBarycentricCoordinates(1-v-w,v,w);
result.setBarycentricCoordinates(1-v-w,v,w);
return true;
// return a + ab * v + ac * w; // = u*a + v*b + w*c, u = va * denom = 1.0f - v - w
@@ -427,7 +427,7 @@ bool btVoronoiSimplexSolver::ClosestPtPointTriangle(const btPoint3& p, const btP
/// Test if point p and d lie on opposite sides of plane through abc
int btVoronoiSimplexSolver::PointOutsideOfPlane(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c, const btPoint3& d)
int btVoronoiSimplexSolver::pointOutsideOfPlane(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c, const btPoint3& d)
{
btVector3 normal = (b-a).cross(c-a);
@@ -446,7 +446,7 @@ int btVoronoiSimplexSolver::PointOutsideOfPlane(const btPoint3& p, const btPoint
}
bool btVoronoiSimplexSolver::ClosestPtPointTetrahedron(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c, const btPoint3& d, btSubSimplexClosestResult& finalResult)
bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c, const btPoint3& d, btSubSimplexClosestResult& finalResult)
{
btSubSimplexClosestResult tempResult;
@@ -458,10 +458,10 @@ bool btVoronoiSimplexSolver::ClosestPtPointTetrahedron(const btPoint3& p, const
finalResult.m_usedVertices.usedVertexC = true;
finalResult.m_usedVertices.usedVertexD = true;
int pointOutsideABC = PointOutsideOfPlane(p, a, b, c, d);
int pointOutsideACD = PointOutsideOfPlane(p, a, c, d, b);
int pointOutsideADB = PointOutsideOfPlane(p, a, d, b, c);
int pointOutsideBDC = PointOutsideOfPlane(p, b, d, c, a);
int pointOutsideABC = pointOutsideOfPlane(p, a, b, c, d);
int pointOutsideACD = pointOutsideOfPlane(p, a, c, d, b);
int pointOutsideADB = pointOutsideOfPlane(p, a, d, b, c);
int pointOutsideBDC = pointOutsideOfPlane(p, b, d, c, a);
if (pointOutsideABC < 0 || pointOutsideACD < 0 || pointOutsideADB < 0 || pointOutsideBDC < 0)
{
@@ -479,7 +479,7 @@ bool btVoronoiSimplexSolver::ClosestPtPointTetrahedron(const btPoint3& p, const
// If point outside face abc then compute closest point on abc
if (pointOutsideABC)
{
ClosestPtPointTriangle(p, a, b, c,tempResult);
closestPtPointTriangle(p, a, b, c,tempResult);
btPoint3 q = tempResult.m_closestPointOnSimplex;
float sqDist = (q - p).dot( q - p);
@@ -492,7 +492,7 @@ bool btVoronoiSimplexSolver::ClosestPtPointTetrahedron(const btPoint3& p, const
finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA;
finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexB;
finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexC;
finalResult.SetBarycentricCoordinates(
finalResult.setBarycentricCoordinates(
tempResult.m_barycentricCoords[VERTA],
tempResult.m_barycentricCoords[VERTB],
tempResult.m_barycentricCoords[VERTC],
@@ -506,7 +506,7 @@ bool btVoronoiSimplexSolver::ClosestPtPointTetrahedron(const btPoint3& p, const
// Repeat test for face acd
if (pointOutsideACD)
{
ClosestPtPointTriangle(p, a, c, d,tempResult);
closestPtPointTriangle(p, a, c, d,tempResult);
btPoint3 q = tempResult.m_closestPointOnSimplex;
//convert result bitmask!
@@ -519,7 +519,7 @@ bool btVoronoiSimplexSolver::ClosestPtPointTetrahedron(const btPoint3& p, const
finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA;
finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexB;
finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexC;
finalResult.SetBarycentricCoordinates(
finalResult.setBarycentricCoordinates(
tempResult.m_barycentricCoords[VERTA],
0,
tempResult.m_barycentricCoords[VERTB],
@@ -533,7 +533,7 @@ bool btVoronoiSimplexSolver::ClosestPtPointTetrahedron(const btPoint3& p, const
if (pointOutsideADB)
{
ClosestPtPointTriangle(p, a, d, b,tempResult);
closestPtPointTriangle(p, a, d, b,tempResult);
btPoint3 q = tempResult.m_closestPointOnSimplex;
//convert result bitmask!
@@ -546,7 +546,7 @@ bool btVoronoiSimplexSolver::ClosestPtPointTetrahedron(const btPoint3& p, const
finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA;
finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexB;
finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexC;
finalResult.SetBarycentricCoordinates(
finalResult.setBarycentricCoordinates(
tempResult.m_barycentricCoords[VERTA],
tempResult.m_barycentricCoords[VERTC],
0,
@@ -560,7 +560,7 @@ bool btVoronoiSimplexSolver::ClosestPtPointTetrahedron(const btPoint3& p, const
if (pointOutsideBDC)
{
ClosestPtPointTriangle(p, b, d, c,tempResult);
closestPtPointTriangle(p, b, d, c,tempResult);
btPoint3 q = tempResult.m_closestPointOnSimplex;
//convert result bitmask!
float sqDist = (q - p).dot( q - p);
@@ -573,7 +573,7 @@ bool btVoronoiSimplexSolver::ClosestPtPointTetrahedron(const btPoint3& p, const
finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexB;
finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexC;
finalResult.SetBarycentricCoordinates(
finalResult.setBarycentricCoordinates(
0,
tempResult.m_barycentricCoords[VERTA],
tempResult.m_barycentricCoords[VERTC],