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Removed obsolete btPoint3: use btVector3 instead

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This commit is contained in:
erwin.coumans
2008-10-27 19:56:48 +00:00
parent 52a151f5e4
commit 6f28170422
77 changed files with 215 additions and 261 deletions
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4
src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp
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@@ -21,7 +21,7 @@
#include <assert.h>
btAxisSweep3::btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned short int maxHandles, btOverlappingPairCache* pairCache, bool disableRaycastAccelerator)
btAxisSweep3::btAxisSweep3(const btVector3& worldAabbMin,const btVector3& worldAabbMax, unsigned short int maxHandles, btOverlappingPairCache* pairCache, bool disableRaycastAccelerator)
:btAxisSweep3Internal<unsigned short int>(worldAabbMin,worldAabbMax,0xfffe,0xffff,maxHandles,pairCache,disableRaycastAccelerator)
{
// 1 handle is reserved as sentinel
@@ -30,7 +30,7 @@ btAxisSweep3::btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAab
}
bt32BitAxisSweep3::bt32BitAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned int maxHandles , btOverlappingPairCache* pairCache , bool disableRaycastAccelerator)
bt32BitAxisSweep3::bt32BitAxisSweep3(const btVector3& worldAabbMin,const btVector3& worldAabbMax, unsigned int maxHandles , btOverlappingPairCache* pairCache , bool disableRaycastAccelerator)
:btAxisSweep3Internal<unsigned int>(worldAabbMin,worldAabbMax,0xfffffffe,0x7fffffff,maxHandles,pairCache,disableRaycastAccelerator)
{
// 1 handle is reserved as sentinel

27
src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
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@@ -19,7 +19,6 @@
#ifndef AXIS_SWEEP_3_H
#define AXIS_SWEEP_3_H
#include "LinearMath/btPoint3.h"
#include "LinearMath/btVector3.h"
#include "btOverlappingPairCache.h"
#include "btBroadphaseInterface.h"
@@ -71,8 +70,8 @@ public:
protected:
btPoint3 m_worldAabbMin; // overall system bounds
btPoint3 m_worldAabbMax; // overall system bounds
btVector3 m_worldAabbMin; // overall system bounds
btVector3 m_worldAabbMax; // overall system bounds
btVector3 m_quantize; // scaling factor for quantization
@@ -122,7 +121,7 @@ protected:
public:
btAxisSweep3Internal(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel, BP_FP_INT_TYPE maxHandles = 16384, btOverlappingPairCache* pairCache=0,bool disableRaycastAccelerator = false);
btAxisSweep3Internal(const btVector3& worldAabbMin,const btVector3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel, BP_FP_INT_TYPE maxHandles = 16384, btOverlappingPairCache* pairCache=0,bool disableRaycastAccelerator = false);
virtual ~btAxisSweep3Internal();
@@ -133,9 +132,9 @@ public:
virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
BP_FP_INT_TYPE addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
BP_FP_INT_TYPE addHandle(const btVector3& aabbMin,const btVector3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
void removeHandle(BP_FP_INT_TYPE handle,btDispatcher* dispatcher);
void updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax,btDispatcher* dispatcher);
void updateHandle(BP_FP_INT_TYPE handle, const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
SIMD_FORCE_INLINE Handle* getHandle(BP_FP_INT_TYPE index) const {return m_pHandles + index;}
void processAllOverlappingPairs(btOverlapCallback* callback);
@@ -148,7 +147,7 @@ public:
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback);
void quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const;
void quantize(BP_FP_INT_TYPE* out, const btVector3& point, int isMax) const;
///unQuantize should be conservative: aabbMin/aabbMax should be larger then 'getAabb' result
void unQuantize(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
@@ -319,7 +318,7 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::unQuantize(btBroadphaseProxy* proxy,b
template <typename BP_FP_INT_TYPE>
btAxisSweep3Internal<BP_FP_INT_TYPE>::btAxisSweep3Internal(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel,BP_FP_INT_TYPE userMaxHandles, btOverlappingPairCache* pairCache , bool disableRaycastAccelerator)
btAxisSweep3Internal<BP_FP_INT_TYPE>::btAxisSweep3Internal(const btVector3& worldAabbMin,const btVector3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel,BP_FP_INT_TYPE userMaxHandles, btOverlappingPairCache* pairCache , bool disableRaycastAccelerator)
:m_bpHandleMask(handleMask),
m_handleSentinel(handleSentinel),
m_pairCache(pairCache),
@@ -420,12 +419,12 @@ btAxisSweep3Internal<BP_FP_INT_TYPE>::~btAxisSweep3Internal()
}
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const
void btAxisSweep3Internal<BP_FP_INT_TYPE>::quantize(BP_FP_INT_TYPE* out, const btVector3& point, int isMax) const
{
#ifdef OLD_CLAMPING_METHOD
///problem with this clamping method is that the floating point during quantization might still go outside the range [(0|isMax) .. (m_handleSentinel&m_bpHandleMask]|isMax]
///see http://code.google.com/p/bullet/issues/detail?id=87
btPoint3 clampedPoint(point);
btVector3 clampedPoint(point);
clampedPoint.setMax(m_worldAabbMin);
clampedPoint.setMin(m_worldAabbMax);
btVector3 v = (clampedPoint - m_worldAabbMin) * m_quantize;
@@ -466,7 +465,7 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::freeHandle(BP_FP_INT_TYPE handle)
template <typename BP_FP_INT_TYPE>
BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy)
BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::addHandle(const btVector3& aabbMin,const btVector3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy)
{
// quantize the bounds
BP_FP_INT_TYPE min[3], max[3];
@@ -705,7 +704,7 @@ bool btAxisSweep3Internal<BP_FP_INT_TYPE>::testOverlap2D(const Handle* pHandleA,
}
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax,btDispatcher* dispatcher)
void btAxisSweep3Internal<BP_FP_INT_TYPE>::updateHandle(BP_FP_INT_TYPE handle, const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher)
{
// assert(bounds.IsFinite());
//assert(bounds.HasVolume());
@@ -984,7 +983,7 @@ class btAxisSweep3 : public btAxisSweep3Internal<unsigned short int>
{
public:
btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned short int maxHandles = 16384, btOverlappingPairCache* pairCache = 0, bool disableRaycastAccelerator = false);
btAxisSweep3(const btVector3& worldAabbMin,const btVector3& worldAabbMax, unsigned short int maxHandles = 16384, btOverlappingPairCache* pairCache = 0, bool disableRaycastAccelerator = false);
};
@@ -995,7 +994,7 @@ class bt32BitAxisSweep3 : public btAxisSweep3Internal<unsigned int>
{
public:
bt32BitAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned int maxHandles = 1500000, btOverlappingPairCache* pairCache = 0, bool disableRaycastAccelerator = false);
bt32BitAxisSweep3(const btVector3& worldAabbMin,const btVector3& worldAabbMax, unsigned int maxHandles = 1500000, btOverlappingPairCache* pairCache = 0, bool disableRaycastAccelerator = false);
};

1
src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
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@@ -21,7 +21,6 @@ subject to the following restrictions:
#include "btBroadphaseProxy.h"
#include "btOverlappingPairCallback.h"
#include "LinearMath/btPoint3.h"
#include "LinearMath/btAlignedObjectArray.h"
class btDispatcher;

2
src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
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@@ -29,7 +29,7 @@ struct btSimpleBroadphaseProxy : public btBroadphaseProxy
btSimpleBroadphaseProxy() {};
btSimpleBroadphaseProxy(const btPoint3& minpt,const btPoint3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,void* multiSapProxy)
btSimpleBroadphaseProxy(const btVector3& minpt,const btVector3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,void* multiSapProxy)
:btBroadphaseProxy(minpt,maxpt,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy)
{
(void)shapeType;

4
src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
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@@ -140,8 +140,8 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po
btVector3 nearestOnEdge;
for (int i = 0; i < m_triangle->getNumEdges(); i++) {
btPoint3 pa;
btPoint3 pb;
btVector3 pa;
btVector3 pb;
m_triangle->getEdge(i,pa,pb);

2
src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h
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@@ -17,7 +17,7 @@ subject to the following restrictions:
#define SPHERE_TRIANGLE_DETECTOR_H
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
#include "LinearMath/btPoint3.h"
class btSphereShape;

2
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -128,7 +128,7 @@ void btCollisionWorld::updateAabbs()
//only update aabb of active objects
if (colObj->isActive())
{
btPoint3 minAabb,maxAabb;
btVector3 minAabb,maxAabb;
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
//need to increase the aabb for contact thresholds
btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold);

8
src/BulletCollision/CollisionShapes/btBoxShape.h
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@@ -19,7 +19,7 @@ subject to the following restrictions:
#include "btPolyhedralConvexShape.h"
#include "btCollisionMargin.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "LinearMath/btPoint3.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btMinMax.h"
///The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space.
@@ -117,7 +117,7 @@ public:
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const
virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const
{
//this plane might not be aligned...
btVector4 plane ;
@@ -190,7 +190,7 @@ public:
}
virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const
virtual void getEdge(int i,btVector3& pa,btVector3& pb) const
//virtual void getEdge(int i,Edge& edge) const
{
int edgeVert0 = 0;
@@ -261,7 +261,7 @@ public:
virtual bool isInside(const btPoint3& pt,btScalar tolerance) const
virtual bool isInside(const btVector3& pt,btScalar tolerance) const
{
btVector3 halfExtents = getHalfExtentsWithoutMargin();

2
src/BulletCollision/CollisionShapes/btCapsuleShape.h
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@@ -49,7 +49,7 @@ public:
halfExtents[m_upAxis] = getRadius() + getHalfHeight();
halfExtents += btVector3(getMargin(),getMargin(),getMargin());
btMatrix3x3 abs_b = t.getBasis().absolute();
btPoint3 center = t.getOrigin();
btVector3 center = t.getOrigin();
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));
aabbMin = center - extent;

1
src/BulletCollision/CollisionShapes/btCollisionShape.h
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@@ -19,7 +19,6 @@ subject to the following restrictions:
#include "LinearMath/btTransform.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btMatrix3x3.h"
#include "LinearMath/btPoint3.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" //for the shape types
///The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects.

2
src/BulletCollision/CollisionShapes/btCompoundShape.cpp
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@@ -141,7 +141,7 @@ void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVect
btMatrix3x3 abs_b = trans.getBasis().absolute();
btPoint3 center = trans(localCenter);
btVector3 center = trans(localCenter);
btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
abs_b[1].dot(localHalfExtents),

1
src/BulletCollision/CollisionShapes/btConeShape.cpp
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@@ -14,7 +14,6 @@ subject to the following restrictions:
*/
#include "btConeShape.h"
#include "LinearMath/btPoint3.h"

16
src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
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@@ -28,7 +28,7 @@ btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int
for (int i=0;i<numPoints;i++)
{
btPoint3* point = (btPoint3*)(pointsBaseAddress + i*stride);
btVector3* point = (btVector3*)(pointsBaseAddress + i*stride);
m_points[i] = point[0];
}
@@ -44,7 +44,7 @@ void btConvexHullShape::setLocalScaling(const btVector3& scaling)
recalcLocalAabb();
}
void btConvexHullShape::addPoint(const btPoint3& point)
void btConvexHullShape::addPoint(const btVector3& point)
{
m_points.push_back(point);
recalcLocalAabb();
@@ -70,7 +70,7 @@ btVector3 btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVecto
for (int i=0;i<m_points.size();i++)
{
btPoint3 vtx = m_points[i] * m_localScaling;
btVector3 vtx = m_points[i] * m_localScaling;
newDot = vec.dot(vtx);
if (newDot > maxDot)
@@ -94,7 +94,7 @@ void btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const
}
for (int i=0;i<m_points.size();i++)
{
btPoint3 vtx = m_points[i] * m_localScaling;
btVector3 vtx = m_points[i] * m_localScaling;
for (int j=0;j<numVectors;j++)
{
@@ -153,7 +153,7 @@ int btConvexHullShape::getNumEdges() const
return m_points.size();
}
void btConvexHullShape::getEdge(int i,btPoint3& pa,btPoint3& pb) const
void btConvexHullShape::getEdge(int i,btVector3& pa,btVector3& pb) const
{
int index0 = i%m_points.size();
@@ -162,7 +162,7 @@ void btConvexHullShape::getEdge(int i,btPoint3& pa,btPoint3& pb) const
pb = m_points[index1]*m_localScaling;
}
void btConvexHullShape::getVertex(int i,btPoint3& vtx) const
void btConvexHullShape::getVertex(int i,btVector3& vtx) const
{
vtx = m_points[i]*m_localScaling;
}
@@ -172,14 +172,14 @@ int btConvexHullShape::getNumPlanes() const
return 0;
}
void btConvexHullShape::getPlane(btVector3& ,btPoint3& ,int ) const
void btConvexHullShape::getPlane(btVector3& ,btVector3& ,int ) const
{
btAssert(0);
}
//not yet
bool btConvexHullShape::isInside(const btPoint3& ,btScalar ) const
bool btConvexHullShape::isInside(const btVector3& ,btScalar ) const
{
assert(0);
return false;

18
src/BulletCollision/CollisionShapes/btConvexHullShape.h
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@@ -24,7 +24,7 @@ subject to the following restrictions:
///Bullet provides a general and fast collision detector for convex shapes based on GJK and EPA using localGetSupportingVertex.
ATTRIBUTE_ALIGNED16(class) btConvexHullShape : public btPolyhedralConvexShape
{
btAlignedObjectArray<btPoint3> m_points;
btAlignedObjectArray<btVector3> m_points;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
@@ -33,16 +33,16 @@ public:
///this constructor optionally takes in a pointer to points. Each point is assumed to be 3 consecutive btScalar (x,y,z), the striding defines the number of bytes between each point, in memory.
///It is easier to not pass any points in the constructor, and just add one point at a time, using addPoint.
///btConvexHullShape make an internal copy of the points.
btConvexHullShape(const btScalar* points=0,int numPoints=0, int stride=sizeof(btPoint3));
btConvexHullShape(const btScalar* points=0,int numPoints=0, int stride=sizeof(btVector3));
void addPoint(const btPoint3& point);
void addPoint(const btVector3& point);
btPoint3* getPoints()
btVector3* getPoints()
{
return &m_points[0];
}
const btPoint3* getPoints() const
const btVector3* getPoints() const
{
return &m_points[0];
}
@@ -64,11 +64,11 @@ public:
virtual int getNumVertices() const;
virtual int getNumEdges() const;
virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const;
virtual void getVertex(int i,btPoint3& vtx) const;
virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
virtual void getVertex(int i,btVector3& vtx) const;
virtual int getNumPlanes() const;
virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const;
virtual bool isInside(const btPoint3& pt,btScalar tolerance) const;
virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const;
virtual bool isInside(const btVector3& pt,btScalar tolerance) const;
///in case we receive negative scaling
virtual void setLocalScaling(const btVector3& scaling);

12
src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp
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@@ -43,7 +43,7 @@ btVector3 btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const b
for (int i=0;i<m_numPoints;i++)
{
btPoint3 vtx = m_points[i] * m_localScaling;
btVector3 vtx = m_points[i] * m_localScaling;
newDot = vec.dot(vtx);
if (newDot > maxDot)
@@ -67,7 +67,7 @@ void btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(
}
for (int i=0;i<m_numPoints;i++)
{
btPoint3 vtx = m_points[i] * m_localScaling;
btVector3 vtx = m_points[i] * m_localScaling;
for (int j=0;j<numVectors;j++)
{
@@ -126,12 +126,12 @@ int btConvexPointCloudShape::getNumEdges() const
return 0;
}
void btConvexPointCloudShape::getEdge(int i,btPoint3& pa,btPoint3& pb) const
void btConvexPointCloudShape::getEdge(int i,btVector3& pa,btVector3& pb) const
{
btAssert (0);
}
void btConvexPointCloudShape::getVertex(int i,btPoint3& vtx) const
void btConvexPointCloudShape::getVertex(int i,btVector3& vtx) const
{
vtx = m_points[i]*m_localScaling;
}
@@ -141,14 +141,14 @@ int btConvexPointCloudShape::getNumPlanes() const
return 0;
}
void btConvexPointCloudShape::getPlane(btVector3& ,btPoint3& ,int ) const
void btConvexPointCloudShape::getPlane(btVector3& ,btVector3& ,int ) const
{
btAssert(0);
}
//not yet
bool btConvexPointCloudShape::isInside(const btPoint3& ,btScalar ) const
bool btConvexPointCloudShape::isInside(const btVector3& ,btScalar ) const
{
assert(0);
return false;

12
src/BulletCollision/CollisionShapes/btConvexPointCloudShape.h
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@@ -47,12 +47,12 @@ public:
recalcLocalAabb();
}
btPoint3* getPoints()
btVector3* getPoints()
{
return m_points;
}
const btPoint3* getPoints() const
const btVector3* getPoints() const
{
return m_points;
}
@@ -74,11 +74,11 @@ public:
virtual int getNumVertices() const;
virtual int getNumEdges() const;
virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const;
virtual void getVertex(int i,btPoint3& vtx) const;
virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
virtual void getVertex(int i,btVector3& vtx) const;
virtual int getNumPlanes() const;
virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const;
virtual bool isInside(const btPoint3& pt,btScalar tolerance) const;
virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const;
virtual bool isInside(const btVector3& pt,btScalar tolerance) const;
///in case we receive negative scaling
virtual void setLocalScaling(const btVector3& scaling);

14
src/BulletCollision/CollisionShapes/btConvexShape.cpp
View File

@@ -41,7 +41,7 @@ static btVector3 convexHullSupport (const btVector3& localDir, const btVector3*
for (int i=0;i<numPoints;i++)
{
btPoint3 vtx = points[i];// * m_localScaling;
btVector3 vtx = points[i];// * m_localScaling;
newDot = vec.dot(vtx);
if (newDot > maxDot)
@@ -210,7 +210,7 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
case CONVEX_HULL_SHAPE_PROXYTYPE:
{
btConvexHullShape* convexHullShape = (btConvexHullShape*)this;
btPoint3* points = convexHullShape->getPoints ();
btVector3* points = convexHullShape->getPoints ();
int numPoints = convexHullShape->getNumPoints ();
return convexHullSupport (localDir, points, numPoints);
}
@@ -226,7 +226,7 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
// should never reach here
btAssert (0);
return btPoint3 (btScalar(0.0f), btScalar(0.0f), btScalar(0.0f));
return btVector3 (btScalar(0.0f), btScalar(0.0f), btScalar(0.0f));
}
btVector3 btConvexShape::localGetSupportVertexNonVirtual (const btVector3& localDir) const
@@ -388,7 +388,7 @@ btVector3 btConvexShape::localGetSupportVertexNonVirtual (const btVector3& local
case CONVEX_HULL_SHAPE_PROXYTYPE:
{
btConvexHullShape* convexHullShape = (btConvexHullShape*)this;
btPoint3* points = convexHullShape->getPoints ();
btVector3* points = convexHullShape->getPoints ();
int numPoints = convexHullShape->getNumPoints ();
return convexHullSupport (localDir, points, numPoints) + getMarginNonVirtual() * localDirNorm;
}
@@ -404,7 +404,7 @@ btVector3 btConvexShape::localGetSupportVertexNonVirtual (const btVector3& local
// should never reach here
btAssert (0);
return btPoint3 (btScalar(0.0f), btScalar(0.0f), btScalar(0.0f));
return btVector3 (btScalar(0.0f), btScalar(0.0f), btScalar(0.0f));
}
/* TODO: This should be bumped up to btCollisionShape () */
@@ -488,7 +488,7 @@ void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin,
btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
halfExtents += btVector3(margin,margin,margin);
btMatrix3x3 abs_b = t.getBasis().absolute();
btPoint3 center = t.getOrigin();
btVector3 center = t.getOrigin();
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));
aabbMin = center - extent;
@@ -523,7 +523,7 @@ void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin,
halfExtents[m_upAxis] = capsuleShape->getRadius() + capsuleShape->getHalfHeight();
halfExtents += btVector3(capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual());
btMatrix3x3 abs_b = t.getBasis().absolute();
btPoint3 center = t.getOrigin();
btVector3 center = t.getOrigin();
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));
aabbMin = center - extent;
aabbMax = center + extent;

8
src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
View File

@@ -163,12 +163,12 @@ int btConvexTriangleMeshShape::getNumEdges() const
return 0;
}
void btConvexTriangleMeshShape::getEdge(int ,btPoint3& ,btPoint3& ) const
void btConvexTriangleMeshShape::getEdge(int ,btVector3& ,btVector3& ) const
{
btAssert(0);
}
void btConvexTriangleMeshShape::getVertex(int ,btPoint3& ) const
void btConvexTriangleMeshShape::getVertex(int ,btVector3& ) const
{
btAssert(0);
}
@@ -178,13 +178,13 @@ int btConvexTriangleMeshShape::getNumPlanes() const
return 0;
}
void btConvexTriangleMeshShape::getPlane(btVector3& ,btPoint3& ,int ) const
void btConvexTriangleMeshShape::getPlane(btVector3& ,btVector3& ,int ) const
{
btAssert(0);
}
//not yet
bool btConvexTriangleMeshShape::isInside(const btPoint3& ,btScalar ) const
bool btConvexTriangleMeshShape::isInside(const btVector3& ,btScalar ) const
{
btAssert(0);
return false;

8
src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
View File

@@ -34,11 +34,11 @@ public:
virtual int getNumVertices() const;
virtual int getNumEdges() const;
virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const;
virtual void getVertex(int i,btPoint3& vtx) const;
virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
virtual void getVertex(int i,btVector3& vtx) const;
virtual int getNumPlanes() const;
virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const;
virtual bool isInside(const btPoint3& pt,btScalar tolerance) const;
virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const;
virtual bool isInside(const btVector3& pt,btScalar tolerance) const;
virtual void setLocalScaling(const btVector3& scaling);

1
src/BulletCollision/CollisionShapes/btCylinderShape.cpp
View File

@@ -13,7 +13,6 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#include "btCylinderShape.h"
#include "LinearMath/btPoint3.h"
btCylinderShape::btCylinderShape (const btVector3& halfExtents)
:btBoxShape(halfExtents),

2
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
View File

@@ -95,7 +95,7 @@ void btHeightfieldTerrainShape::getAabb(const btTransform& t,btVector3& aabbMin,
halfExtents += btVector3(getMargin(),getMargin(),getMargin());
btMatrix3x3 abs_b = t.getBasis().absolute();
btPoint3 center = t.getOrigin();
btVector3 center = t.getOrigin();
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),
abs_b[1].dot(halfExtents),
abs_b[2].dot(halfExtents));

9
src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
View File

@@ -16,7 +16,6 @@ subject to the following restrictions:
#ifndef BU_SHAPE
#define BU_SHAPE
#include "LinearMath/btPoint3.h"
#include "LinearMath/btMatrix3x3.h"
#include "LinearMath/btAabbUtil2.h"
#include "btConvexInternalShape.h"
@@ -75,13 +74,13 @@ public:
virtual int getNumVertices() const = 0 ;
virtual int getNumEdges() const = 0;
virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const = 0;
virtual void getVertex(int i,btPoint3& vtx) const = 0;
virtual void getEdge(int i,btVector3& pa,btVector3& pb) const = 0;
virtual void getVertex(int i,btVector3& vtx) const = 0;
virtual int getNumPlanes() const = 0;
virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const = 0;
virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const = 0;
// virtual int getIndex(int i) const = 0 ;
virtual bool isInside(const btPoint3& pt,btScalar tolerance) const = 0;
virtual bool isInside(const btVector3& pt,btScalar tolerance) const = 0;
/// optional Hull is for optional Separating Axis Test Hull collision detection, see Hull.cpp
class Hull* m_optionalHull;

2
src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp
View File

@@ -93,7 +93,7 @@ void btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans,btVector3& a
btMatrix3x3 abs_b = trans.getBasis().absolute();
btPoint3 center = trans(localCenter);
btVector3 center = trans(localCenter);
btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
abs_b[1].dot(localHalfExtents),

18
src/BulletCollision/CollisionShapes/btTetrahedronShape.cpp
View File

@@ -22,14 +22,14 @@ m_numVertices(0)
m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
}
btBU_Simplex1to4::btBU_Simplex1to4(const btPoint3& pt0) : btPolyhedralConvexShape (),
btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0) : btPolyhedralConvexShape (),
m_numVertices(0)
{
m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
addVertex(pt0);
}
btBU_Simplex1to4::btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1) : btPolyhedralConvexShape (),
btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1) : btPolyhedralConvexShape (),
m_numVertices(0)
{
m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
@@ -37,7 +37,7 @@ m_numVertices(0)
addVertex(pt1);
}
btBU_Simplex1to4::btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1,const btPoint3& pt2) : btPolyhedralConvexShape (),
btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2) : btPolyhedralConvexShape (),
m_numVertices(0)
{
m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
@@ -46,7 +46,7 @@ m_numVertices(0)
addVertex(pt2);
}
btBU_Simplex1to4::btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1,const btPoint3& pt2,const btPoint3& pt3) : btPolyhedralConvexShape (),
btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2,const btVector3& pt3) : btPolyhedralConvexShape (),
m_numVertices(0)
{
m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
@@ -60,7 +60,7 @@ m_numVertices(0)
void btBU_Simplex1to4::addVertex(const btPoint3& pt)
void btBU_Simplex1to4::addVertex(const btVector3& pt)
{
m_vertices[m_numVertices++] = pt;
@@ -92,7 +92,7 @@ int btBU_Simplex1to4::getNumEdges() const
return 0;
}
void btBU_Simplex1to4::getEdge(int i,btPoint3& pa,btPoint3& pb) const
void btBU_Simplex1to4::getEdge(int i,btVector3& pa,btVector3& pb) const
{
switch (m_numVertices)
@@ -156,7 +156,7 @@ void btBU_Simplex1to4::getEdge(int i,btPoint3& pa,btPoint3& pb) const
}
void btBU_Simplex1to4::getVertex(int i,btPoint3& vtx) const
void btBU_Simplex1to4::getVertex(int i,btVector3& vtx) const
{
vtx = m_vertices[i];
}
@@ -183,7 +183,7 @@ int btBU_Simplex1to4::getNumPlanes() const
}
void btBU_Simplex1to4::getPlane(btVector3&, btPoint3& ,int ) const
void btBU_Simplex1to4::getPlane(btVector3&, btVector3& ,int ) const
{
}
@@ -193,7 +193,7 @@ int btBU_Simplex1to4::getIndex(int ) const
return 0;
}
bool btBU_Simplex1to4::isInside(const btPoint3& ,btScalar ) const
bool btBU_Simplex1to4::isInside(const btVector3& ,btScalar ) const
{
return false;
}

20
src/BulletCollision/CollisionShapes/btTetrahedronShape.h
View File

@@ -27,15 +27,15 @@ class btBU_Simplex1to4 : public btPolyhedralConvexShape
protected:
int m_numVertices;
btPoint3 m_vertices[4];
btVector3 m_vertices[4];
public:
btBU_Simplex1to4();
btBU_Simplex1to4(const btPoint3& pt0);
btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1);
btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1,const btPoint3& pt2);
btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1,const btPoint3& pt2,const btPoint3& pt3);
btBU_Simplex1to4(const btVector3& pt0);
btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1);
btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2);
btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2,const btVector3& pt3);
void reset()
@@ -45,7 +45,7 @@ public:
void addVertex(const btPoint3& pt);
void addVertex(const btVector3& pt);
//PolyhedralConvexShape interface
@@ -53,17 +53,17 @@ public:
virtual int getNumEdges() const;
virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const;
virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
virtual void getVertex(int i,btPoint3& vtx) const;
virtual void getVertex(int i,btVector3& vtx) const;
virtual int getNumPlanes() const;
virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i) const;
virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i) const;
virtual int getIndex(int i) const;
virtual bool isInside(const btPoint3& pt,btScalar tolerance) const;
virtual bool isInside(const btVector3& pt,btScalar tolerance) const;
///getName is for debugging

2
src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
View File

@@ -53,7 +53,7 @@ void btTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,bt
btMatrix3x3 abs_b = trans.getBasis().absolute();
btPoint3 center = trans(localCenter);
btVector3 center = trans(localCenter);
btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
abs_b[1].dot(localHalfExtents),

10
src/BulletCollision/CollisionShapes/btTriangleShape.h
View File

@@ -46,7 +46,7 @@ public:
return 3;
}
virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const
virtual void getEdge(int i,btVector3& pa,btVector3& pb) const
{
getVertex(i,pa);
getVertex((i+1)%3,pb);
@@ -88,7 +88,7 @@ public:
}
virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i) const
virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i) const
{
getPlaneEquation(i,planeNormal,planeSupport);
}
@@ -104,7 +104,7 @@ public:
normal.normalize();
}
virtual void getPlaneEquation(int i, btVector3& planeNormal,btPoint3& planeSupport) const
virtual void getPlaneEquation(int i, btVector3& planeNormal,btVector3& planeSupport) const
{
(void)i;
calcNormal(planeNormal);
@@ -118,7 +118,7 @@ public:
inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
}
virtual bool isInside(const btPoint3& pt,btScalar tolerance) const
virtual bool isInside(const btVector3& pt,btScalar tolerance) const
{
btVector3 normal;
calcNormal(normal);
@@ -132,7 +132,7 @@ public:
int i;
for (i=0;i<3;i++)
{
btPoint3 pa,pb;
btVector3 pa,pb;
getEdge(i,pa,pb);
btVector3 edge = pb-pa;
btVector3 edgeNormal = edge.cross(normal);

3
src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
View File

@@ -21,7 +21,6 @@ class btStackAlloc;
class btVector3;
#include "btSimplexSolverInterface.h"
class btConvexShape;
#include "LinearMath/btPoint3.h"
class btTransform;
///ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
@@ -33,7 +32,7 @@ public:
virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
const btConvexShape* convexA,const btConvexShape* convexB,
const btTransform& transA,const btTransform& transB,
btVector3& v, btPoint3& pa, btPoint3& pb,
btVector3& v, btVector3& pa, btVector3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
) = 0;

2
src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
View File

@@ -31,7 +31,7 @@ subject to the following restrictions:
bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver,
const btConvexShape* pConvexA, const btConvexShape* pConvexB,
const btTransform& transformA, const btTransform& transformB,
btVector3& v, btPoint3& wWitnessOnA, btPoint3& wWitnessOnB,
btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
class btIDebugDraw* debugDraw, btStackAlloc* stackAlloc )
{

2
src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
View File

@@ -28,7 +28,7 @@ class btGjkEpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver
bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
const btConvexShape* pConvexA, const btConvexShape* pConvexB,
const btTransform& transformA, const btTransform& transformB,
btVector3& v, btPoint3& wWitnessOnA, btPoint3& wWitnessOnB,
btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc );
private :

4
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
View File

@@ -130,8 +130,8 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
btAssert((qInBv-qInB).length() < 0.0001);
#endif //
btPoint3 pWorld = localTransA(pInA);
btPoint3 qWorld = localTransB(qInB);
btVector3 pWorld = localTransA(pInA);
btVector3 qWorld = localTransB(qInB);
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("got local supporting vertices\n");

1
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
View File

@@ -20,7 +20,6 @@ subject to the following restrictions:
#define GJK_PAIR_DETECTOR_H
#include "btDiscreteCollisionDetectorInterface.h"
#include "LinearMath/btPoint3.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
class btConvexShape;

2
src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
View File

@@ -70,7 +70,7 @@ btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simplexSolver,
const btConvexShape* convexA,const btConvexShape* convexB,
const btTransform& transA,const btTransform& transB,
btVector3& v, btPoint3& pa, btPoint3& pb,
btVector3& v, btVector3& pa, btVector3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
)
{

2
src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
View File

@@ -27,7 +27,7 @@ public:
virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
const btConvexShape* convexA,const btConvexShape* convexB,
const btTransform& transA,const btTransform& transB,
btVector3& v, btPoint3& pa, btPoint3& pb,
btVector3& v, btVector3& pa, btVector3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
);
};

7
src/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h
View File

@@ -19,7 +19,6 @@ subject to the following restrictions:
#define SIMPLEX_SOLVER_INTERFACE_H
#include "LinearMath/btVector3.h"
#include "LinearMath/btPoint3.h"
#define NO_VIRTUAL_INTERFACE 1
#ifdef NO_VIRTUAL_INTERFACE
@@ -37,7 +36,7 @@ class btSimplexSolverInterface
virtual void reset() = 0;
virtual void addVertex(const btVector3& w, const btPoint3& p, const btPoint3& q) = 0;
virtual void addVertex(const btVector3& w, const btVector3& p, const btVector3& q) = 0;
virtual bool closest(btVector3& v) = 0;
@@ -45,7 +44,7 @@ class btSimplexSolverInterface
virtual bool fullSimplex() const = 0;
virtual int getSimplex(btPoint3 *pBuf, btPoint3 *qBuf, btVector3 *yBuf) const = 0;
virtual int getSimplex(btVector3 *pBuf, btVector3 *qBuf, btVector3 *yBuf) const = 0;
virtual bool inSimplex(const btVector3& w) = 0;
@@ -53,7 +52,7 @@ class btSimplexSolverInterface
virtual bool emptySimplex() const = 0;
virtual void compute_points(btPoint3& p1, btPoint3& p2) = 0;
virtual void compute_points(btVector3& p1, btVector3& p2) = 0;
virtual int numVertices() const =0;

20
src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
View File

@@ -77,7 +77,7 @@ void btVoronoiSimplexSolver::reset()
//add a vertex
void btVoronoiSimplexSolver::addVertex(const btVector3& w, const btPoint3& p, const btPoint3& q)
void btVoronoiSimplexSolver::addVertex(const btVector3& w, const btVector3& p, const btVector3& q)
{
m_lastW = w;
m_needsUpdate = true;
@@ -267,7 +267,7 @@ btScalar btVoronoiSimplexSolver::maxVertex()
//return the current simplex
int btVoronoiSimplexSolver::getSimplex(btPoint3 *pBuf, btPoint3 *qBuf, btVector3 *yBuf) const
int btVoronoiSimplexSolver::getSimplex(btVector3 *pBuf, btVector3 *qBuf, btVector3 *yBuf) const
{
int i;
for (i=0;i<numVertices();i++)
@@ -314,7 +314,7 @@ bool btVoronoiSimplexSolver::emptySimplex() const
}
void btVoronoiSimplexSolver::compute_points(btPoint3& p1, btPoint3& p2)
void btVoronoiSimplexSolver::compute_points(btVector3& p1, btVector3& p2)
{
updateClosestVectorAndPoints();
p1 = m_cachedP1;
@@ -325,7 +325,7 @@ 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 btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c,btSubSimplexClosestResult& result)
{
result.m_usedVertices.reset();
@@ -425,7 +425,7 @@ 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 btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d)
{
btVector3 normal = (b-a).cross(c-a);
@@ -452,7 +452,7 @@ if (signd * signd < (btScalar(1e-8) * btScalar(1e-8)))
}
bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c, const btPoint3& d, btSubSimplexClosestResult& finalResult)
bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, btSubSimplexClosestResult& finalResult)
{
btSubSimplexClosestResult tempResult;
@@ -486,7 +486,7 @@ bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btPoint3& p, const
if (pointOutsideABC)
{
closestPtPointTriangle(p, a, b, c,tempResult);
btPoint3 q = tempResult.m_closestPointOnSimplex;
btVector3 q = tempResult.m_closestPointOnSimplex;
btScalar sqDist = (q - p).dot( q - p);
// Update best closest point if (squared) distance is less than current best
@@ -513,7 +513,7 @@ bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btPoint3& p, const
if (pointOutsideACD)
{
closestPtPointTriangle(p, a, c, d,tempResult);
btPoint3 q = tempResult.m_closestPointOnSimplex;
btVector3 q = tempResult.m_closestPointOnSimplex;
//convert result bitmask!
btScalar sqDist = (q - p).dot( q - p);
@@ -541,7 +541,7 @@ bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btPoint3& p, const
if (pointOutsideADB)
{
closestPtPointTriangle(p, a, d, b,tempResult);
btPoint3 q = tempResult.m_closestPointOnSimplex;
btVector3 q = tempResult.m_closestPointOnSimplex;
//convert result bitmask!
btScalar sqDist = (q - p).dot( q - p);
@@ -569,7 +569,7 @@ bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btPoint3& p, const
if (pointOutsideBDC)
{
closestPtPointTriangle(p, b, d, c,tempResult);
btPoint3 q = tempResult.m_closestPointOnSimplex;
btVector3 q = tempResult.m_closestPointOnSimplex;
//convert result bitmask!
btScalar sqDist = (q - p).dot( q - p);
if (sqDist < bestSqDist)

22
src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
View File

@@ -50,7 +50,7 @@ struct btUsageBitfield{
struct btSubSimplexClosestResult
{
btPoint3 m_closestPointOnSimplex;
btVector3 m_closestPointOnSimplex;
//MASK for m_usedVertices
//stores the simplex vertex-usage, using the MASK,
// if m_usedVertices & MASK then the related vertex is used
@@ -97,13 +97,13 @@ public:
int m_numVertices;
btVector3 m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS];
btPoint3 m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS];
btPoint3 m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS];
btVector3 m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS];
btVector3 m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS];
btPoint3 m_cachedP1;
btPoint3 m_cachedP2;
btVector3 m_cachedP1;
btVector3 m_cachedP2;
btVector3 m_cachedV;
btVector3 m_lastW;
bool m_cachedValidClosest;
@@ -116,15 +116,15 @@ public:
void reduceVertices (const btUsageBitfield& usedVerts);
bool updateClosestVectorAndPoints();
bool closestPtPointTetrahedron(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c, const btPoint3& d, btSubSimplexClosestResult& finalResult);
int pointOutsideOfPlane(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c, const btPoint3& d);
bool closestPtPointTriangle(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c,btSubSimplexClosestResult& result);
bool closestPtPointTetrahedron(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, btSubSimplexClosestResult& finalResult);
int pointOutsideOfPlane(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d);
bool closestPtPointTriangle(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c,btSubSimplexClosestResult& result);
public:
void reset();
void addVertex(const btVector3& w, const btPoint3& p, const btPoint3& q);
void addVertex(const btVector3& w, const btVector3& p, const btVector3& q);
bool closest(btVector3& v);
@@ -136,7 +136,7 @@ public:
return (m_numVertices == 4);
}
int getSimplex(btPoint3 *pBuf, btPoint3 *qBuf, btVector3 *yBuf) const;
int getSimplex(btVector3 *pBuf, btVector3 *qBuf, btVector3 *yBuf) const;
bool inSimplex(const btVector3& w);
@@ -144,7 +144,7 @@ public:
bool emptySimplex() const ;
void compute_points(btPoint3& p1, btPoint3& p2) ;
void compute_points(btVector3& p1, btVector3& p2) ;
int numVertices() const
{