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Fix btSoftBody so it compiles with older compilers, such as MSVC 6.0

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Add support for angularFactor for applyForce, see http://code.google.com/p/bullet/issues/detail?id=59&can=1
This commit is contained in:
erwin.coumans
2008-07-22 15:00:25 +00:00
parent d71f8d6623
commit 3483e2dfc8
5 changed files with 199 additions and 129 deletions
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46
src/BulletSoftBody/btSoftBodyHelpers.cpp
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@@ -163,10 +163,12 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
const btVector3 lcolor=btVector3(0,0,0);
const btVector3 ncolor=btVector3(1,1,1);
const btVector3 ccolor=btVector3(1,0,0);
int i,j,nj;
/* Nodes */
if(0!=(drawflags&fDrawFlags::Nodes))
{
for(int i=0;i<psb->m_nodes.size();++i)
for(i=0;i<psb->m_nodes.size();++i)
{
const btSoftBody::Node& n=psb->m_nodes[i];
if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
@@ -178,7 +180,7 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
/* Links */
if(0!=(drawflags&fDrawFlags::Links))
{
for(int i=0;i<psb->m_links.size();++i)
for(i=0;i<psb->m_links.size();++i)
{
const btSoftBody::Link& l=psb->m_links[i];
if(0==(l.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
@@ -188,7 +190,7 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
/* Normals */
if(0!=(drawflags&fDrawFlags::Normals))
{
for(int i=0;i<psb->m_nodes.size();++i)
for(i=0;i<psb->m_nodes.size();++i)
{
const btSoftBody::Node& n=psb->m_nodes[i];
if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
@@ -203,7 +205,7 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
static const btVector3 axis[]={btVector3(1,0,0),
btVector3(0,1,0),
btVector3(0,0,1)};
for(int i=0;i<psb->m_rcontacts.size();++i)
for(i=0;i<psb->m_rcontacts.size();++i)
{
const btSoftBody::RContact& c=psb->m_rcontacts[i];
const btVector3 o= c.m_node->m_x-c.m_cti.m_normal*
@@ -218,7 +220,7 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
/* Anchors */
if(0!=(drawflags&fDrawFlags::Anchors))
{
for(int i=0;i<psb->m_anchors.size();++i)
for(i=0;i<psb->m_anchors.size();++i)
{
const btSoftBody::Anchor& a=psb->m_anchors[i];
const btVector3 q=a.m_body->getWorldTransform()*a.m_local;
@@ -226,7 +228,7 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
drawVertex(idraw,q,0.25,btVector3(0,1,0));
idraw->drawLine(a.m_node->m_x,q,btVector3(1,1,1));
}
for(int i=0;i<psb->m_nodes.size();++i)
for(i=0;i<psb->m_nodes.size();++i)
{
const btSoftBody::Node& n=psb->m_nodes[i];
if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
@@ -242,7 +244,7 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
const btScalar scl=(btScalar)0.8;
const btScalar alp=(btScalar)1;
const btVector3 col(0,(btScalar)0.7,0);
for(int i=0;i<psb->m_faces.size();++i)
for(i=0;i<psb->m_faces.size();++i)
{
const btSoftBody::Face& f=psb->m_faces[i];
if(0==(f.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
@@ -258,7 +260,7 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
if(0!=(drawflags&fDrawFlags::Clusters))
{
srand(1806);
for(int i=0;i<psb->m_clusters.size();++i)
for(i=0;i<psb->m_clusters.size();++i)
{
if(psb->m_clusters[i]->m_collide)
{
@@ -268,7 +270,7 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
color=color.normalized()*0.75;
btAlignedObjectArray<btVector3> vertices;
vertices.resize(psb->m_clusters[i]->m_nodes.size());
for(int j=0,nj=vertices.size();j<nj;++j)
for(j=0,nj=vertices.size();j<nj;++j)
{
vertices[j]=psb->m_clusters[i]->m_nodes[j]->m_x;
}
@@ -281,7 +283,7 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
add(hres.m_OutputVertices,-center);
mul(hres.m_OutputVertices,(btScalar)1);
add(hres.m_OutputVertices,center);
for(int j=0;j<(int)hres.mNumFaces;++j)
for(j=0;j<(int)hres.mNumFaces;++j)
{
const int idx[]={hres.m_Indices[j*3+0],hres.m_Indices[j*3+1],hres.m_Indices[j*3+2]};
idraw->drawTriangle(hres.m_OutputVertices[idx[0]],
@@ -311,7 +313,7 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
/* Notes */
if(0!=(drawflags&fDrawFlags::Notes))
{
for(int i=0;i<psb->m_notes.size();++i)
for(i=0;i<psb->m_notes.size();++i)
{
const btSoftBody::Note& n=psb->m_notes[i];
btVector3 p=n.m_offset;
@@ -331,7 +333,7 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
/* Joints */
if(0!=(drawflags&fDrawFlags::Joints))
{
for(int i=0;i<psb->m_joints.size();++i)
for(i=0;i<psb->m_joints.size();++i)
{
const btSoftBody::Joint* pj=psb->m_joints[i];
switch(pj->Type())
@@ -451,7 +453,9 @@ btSoftBody* btSoftBodyHelpers::CreateRope( btSoftBody::btSoftBodyWorldInfo& wor
const int r=res+2;
btVector3* x=new btVector3[r];
btScalar* m=new btScalar[r];
for(int i=0;i<r;++i)
int i;
for(i=0;i<r;++i)
{
const btScalar t=i/(btScalar)(r-1);
x[i]=lerp(from,to,t);
@@ -463,7 +467,7 @@ btSoftBody* btSoftBodyHelpers::CreateRope( btSoftBody::btSoftBodyWorldInfo& wor
delete[] x;
delete[] m;
/* Create links */
for(int i=1;i<r;++i)
for(i=1;i<r;++i)
{
psb->appendLink(i-1,i);
}
@@ -489,7 +493,9 @@ btSoftBody* btSoftBodyHelpers::CreatePatch(btSoftBody::btSoftBodyWorldInfo& wor
const int tot=rx*ry;
btVector3* x=new btVector3[tot];
btScalar* m=new btScalar[tot];
for(int iy=0;iy<ry;++iy)
int iy;
for(iy=0;iy<ry;++iy)
{
const btScalar ty=iy/(btScalar)(ry-1);
const btVector3 py0=lerp(corner00,corner01,ty);
@@ -509,7 +515,7 @@ btSoftBody* btSoftBodyHelpers::CreatePatch(btSoftBody::btSoftBodyWorldInfo& wor
delete[] x;
delete[] m;
/* Create links and faces */
for(int iy=0;iy<ry;++iy)
for(iy=0;iy<ry;++iy)
{
for(int ix=0;ix<rx;++ix)
{
@@ -584,7 +590,9 @@ btSoftBody* btSoftBodyHelpers::CreateFromTriMesh(btSoftBody::btSoftBodyWorldInf
int ntriangles)
{
int maxidx=0;
for(int i=0,ni=ntriangles*3;i<ni;++i)
int i,j,ni;
for(i=0,ni=ntriangles*3;i<ni;++i)
{
maxidx=btMax(triangles[i],maxidx);
}
@@ -593,12 +601,12 @@ btSoftBody* btSoftBodyHelpers::CreateFromTriMesh(btSoftBody::btSoftBodyWorldInf
btAlignedObjectArray<btVector3> vtx;
chks.resize(maxidx*maxidx,false);
vtx.resize(maxidx);
for(int i=0,j=0,ni=maxidx*3;i<ni;++j,i+=3)
for(i=0,j=0,ni=maxidx*3;i<ni;++j,i+=3)
{
vtx[j]=btVector3(vertices[i],vertices[i+1],vertices[i+2]);
}
btSoftBody* psb=new btSoftBody(&worldInfo,vtx.size(),&vtx[0],0);
for(int i=0,ni=ntriangles*3;i<ni;i+=3)
for( i=0,ni=ntriangles*3;i<ni;i+=3)
{
const int idx[]={triangles[i],triangles[i+1],triangles[i+2]};
#define IDX(_x_,_y_) ((_y_)*maxidx+(_x_))