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

+ CMake build system fix under Windows: don't define _WINDOWS to allow Glut console demo to build properly

Browse Source 
+ Allow user to enable useConvexConservativeDistanceUtil . Use dynamicsWorld->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
(see Demos/Benchmarks/Benchmark4 (convex objects falling down)
+ Fix for plane drawing (just wire-frame)
+ Gimpact: use collision margin of 0.07 for demo (because BULLET_TRIANGLE_COLLISION is used)
+ replace dot,cross,distance,angle,triple in btVector3 by btDot, btCross,btDistance,btAngle,btDistance to avoid naming conflicts
+ Some fixes in GJK penetration depth normal direction (broken in a previous commit)
+ fix in calculateDiffAxisAngleQuaternion to make ConvexConservativeDistanceUtil work properly
+ allow debug drawing to debug btContinuousConvexCollision
+ add comment/warning that btTriangleMesh::findOrAddVertex is an internal method, users should use addTriangle instead
This commit is contained in:
erwin.coumans
2009-07-15 16:47:48 +00:00
parent a27b349dd0
commit 40c73f327c
35 changed files with 343 additions and 222 deletions
Download Patch File Download Diff File Expand all files Collapse all files

19
src/LinearMath/btVector3.h
View File

@@ -306,7 +306,7 @@ public:
m_floats[0]=x;
m_floats[1]=y;
m_floats[2]=z;
m_floats[3] = 0.f;
m_floats[3] = btScalar(0.);
}
void getSkewSymmetricMatrix(btVector3* v0,btVector3* v1,btVector3* v2) const
@@ -316,6 +316,11 @@ public:
v2->setValue(-y() ,x() ,0.);
}
void setZero()
{
setValue(btScalar(0.),btScalar(0.),btScalar(0.));
}
};
/**@brief Return the sum of two vectors (Point symantics)*/
@@ -376,7 +381,7 @@ operator/(const btVector3& v1, const btVector3& v2)
/**@brief Return the dot product between two vectors */
SIMD_FORCE_INLINE btScalar
dot(const btVector3& v1, const btVector3& v2)
btDot(const btVector3& v1, const btVector3& v2)
{
return v1.dot(v2);
}
@@ -384,7 +389,7 @@ dot(const btVector3& v1, const btVector3& v2)
/**@brief Return the distance squared between two vectors */
SIMD_FORCE_INLINE btScalar
distance2(const btVector3& v1, const btVector3& v2)
btDistance2(const btVector3& v1, const btVector3& v2)
{
return v1.distance2(v2);
}
@@ -392,27 +397,27 @@ distance2(const btVector3& v1, const btVector3& v2)
/**@brief Return the distance between two vectors */
SIMD_FORCE_INLINE btScalar
distance(const btVector3& v1, const btVector3& v2)
btDistance(const btVector3& v1, const btVector3& v2)
{
return v1.distance(v2);
}
/**@brief Return the angle between two vectors */
SIMD_FORCE_INLINE btScalar
angle(const btVector3& v1, const btVector3& v2)
btAngle(const btVector3& v1, const btVector3& v2)
{
return v1.angle(v2);
}
/**@brief Return the cross product of two vectors */
SIMD_FORCE_INLINE btVector3
cross(const btVector3& v1, const btVector3& v2)
btCross(const btVector3& v1, const btVector3& v2)
{
return v1.cross(v2);
}
SIMD_FORCE_INLINE btScalar
triple(const btVector3& v1, const btVector3& v2, const btVector3& v3)
btTriple(const btVector3& v1, const btVector3& v2, const btVector3& v3)
{
return v1.triple(v2, v3);
}