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

Removed obsolete btPoint3: use btVector3 instead

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

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
{