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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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28
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp
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@@ -16,13 +16,13 @@ subject to the following restrictions:
#include "SpuCollisionShapes.h"
btPoint3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, const btVector3& localDir,struct SpuConvexPolyhedronVertexData* convexVertexData)//, int *featureIndex)
btVector3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, const btVector3& localDir,struct SpuConvexPolyhedronVertexData* convexVertexData)//, int *featureIndex)
{
switch (shapeType)
{
case SPHERE_SHAPE_PROXYTYPE:
{
return btPoint3(0,0,0);
return btVector3(0,0,0);
}
case BOX_SHAPE_PROXYTYPE:
{
@@ -30,7 +30,7 @@ btPoint3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, const
btConvexInternalShape* convexShape = (btConvexInternalShape*)shape;
const btVector3& halfExtents = convexShape->getImplicitShapeDimensions();
return btPoint3(
return btVector3(
localDir.getX() < 0.0f ? -halfExtents.x() : halfExtents.x(),
localDir.getY() < 0.0f ? -halfExtents.y() : halfExtents.y(),
localDir.getZ() < 0.0f ? -halfExtents.z() : halfExtents.z());
@@ -43,7 +43,7 @@ btPoint3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, const
btVector3* vertices = (btVector3*)shape;
btVector3 dots(dir.dot(vertices[0]), dir.dot(vertices[1]), dir.dot(vertices[2]));
btVector3 sup = vertices[dots.maxAxis()];
return btPoint3(sup.getX(),sup.getY(),sup.getZ());
return btVector3(sup.getX(),sup.getY(),sup.getZ());
break;
}
@@ -100,14 +100,14 @@ btPoint3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, const
tmp[XX] = v[XX] * d;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = v[ZZ] * d;
return btPoint3(tmp.getX(),tmp.getY(),tmp.getZ());
return btVector3(tmp.getX(),tmp.getY(),tmp.getZ());
}
else
{
tmp[XX] = radius;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = btScalar(0.0);
return btPoint3(tmp.getX(),tmp.getY(),tmp.getZ());
return btVector3(tmp.getX(),tmp.getY(),tmp.getZ());
}
}
@@ -162,7 +162,7 @@ btPoint3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, const
supVec = vtx;
}
}
return btPoint3(supVec.getX(),supVec.getY(),supVec.getZ());
return btVector3(supVec.getX(),supVec.getY(),supVec.getZ());
break;
};
@@ -172,7 +172,7 @@ btPoint3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, const
btPoint3* points = 0;
btVector3* points = 0;
int numPoints = 0;
points = convexVertexData->gConvexPoints;
numPoints = convexVertexData->gNumConvexPoints;
@@ -197,7 +197,7 @@ btPoint3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, const
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)
@@ -206,7 +206,7 @@ btPoint3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, const
supVec = vtx;
}
}
return btPoint3(supVec.getX(),supVec.getY(),supVec.getZ());
return btVector3(supVec.getX(),supVec.getY(),supVec.getZ());
break;
};
@@ -219,7 +219,7 @@ btPoint3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, const
#if __ASSERT
// spu_printf("localGetSupportingVertexWithoutMargin() - Unsupported bound type: %d.\n", shapeType);
#endif // __ASSERT
return btPoint3(0.f, 0.f, 0.f);
return btVector3(0.f, 0.f, 0.f);
}
}
@@ -237,7 +237,7 @@ void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape*
halfExtents += btVector3(margin,margin,margin);
btTransform& t = xform;
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;
@@ -260,7 +260,7 @@ void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape*
#endif
btTransform& t = xform;
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;
@@ -410,7 +410,7 @@ void dmaConvexVertexData (SpuConvexPolyhedronVertexData* convexVertexData, btCon
return;
}
register int dmaSize = convexVertexData->gNumConvexPoints*sizeof(btPoint3);
register int dmaSize = convexVertexData->gNumConvexPoints*sizeof(btVector3);
ppu_address_t pointsPPU = (ppu_address_t) convexShapeSPU->getPoints();
cellDmaGet(&convexVertexData->g_convexPointBuffer[0], pointsPPU , dmaSize, DMA_TAG(2), 0, 0);
}

6
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h
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@@ -23,9 +23,9 @@
struct SpuConvexPolyhedronVertexData
{
void* gSpuConvexShapePtr;
btPoint3* gConvexPoints;
btVector3* gConvexPoints;
int gNumConvexPoints;
ATTRIBUTE_ALIGNED16(btPoint3 g_convexPointBuffer[MAX_NUM_SPU_CONVEX_POINTS]);
ATTRIBUTE_ALIGNED16(btVector3 g_convexPointBuffer[MAX_NUM_SPU_CONVEX_POINTS]);
};
#define MAX_SHAPE_SIZE 256
@@ -63,7 +63,7 @@ struct bvhMeshShape_LocalStoreMemory
};
btPoint3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, const btVector3& localDir,struct SpuConvexPolyhedronVertexData* convexVertexData);//, int *featureIndex)
btVector3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, const btVector3& localDir,struct SpuConvexPolyhedronVertexData* convexVertexData);//, int *featureIndex)
void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape* convexShape, ppu_address_t convexShapePtr, int shapeType, btTransform xform);
void dmaBvhShapeData (bvhMeshShape_LocalStoreMemory* bvhMeshShape, btBvhTriangleMeshShape* triMeshShape);
void dmaBvhIndexedMesh (btIndexedMesh* IndexMesh, IndexedMeshArray& indexArray, int index, uint32_t dmaTag);

2
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.cpp
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@@ -170,7 +170,7 @@ void SpuContactResult::writeDoubleBufferedManifold(btPersistentManifold* lsManif
//no, the swapBuffers does the wait
}
void SpuContactResult::addContactPoint(const btVector3& normalOnBInWorld,const btPoint3& pointInWorld,float depth)
void SpuContactResult::addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,float depth)
{
//spu_printf("*** SpuContactResult::addContactPoint: depth = %f\n",depth);

3
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h
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@@ -27,7 +27,6 @@ subject to the following restrictions:
#include "LinearMath/btTransform.h"
#include "LinearMath/btPoint3.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
@@ -102,7 +101,7 @@ class SpuContactResult
void writeDoubleBufferedManifold(btPersistentManifold* lsManifold, btPersistentManifold* mmManifold);
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btPoint3& pointInWorld,float depth);
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,float depth);
void flush();
};

3
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h
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@@ -25,7 +25,6 @@ class btIDebugDraw;
class SpuVoronoiSimplexSolver;
#include <LinearMath/btTransform.h>
#include <LinearMath/btPoint3.h>
///ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
@@ -37,7 +36,7 @@ public:
virtual bool calcPenDepth( SpuVoronoiSimplexSolver& simplexSolver,
void* convexA,void* convexB,int shapeTypeA, int shapeTypeB, float marginA, float marginB,
btTransform& transA,const btTransform& transB,
btVector3& v, btPoint3& pa, btPoint3& pb,
btVector3& v, btVector3& pa, btVector3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc,
struct SpuConvexPolyhedronVertexData* convexVertexDataA,
struct SpuConvexPolyhedronVertexData* convexVertexDataB

2
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuEpaPenetrationDepthSolver.cpp
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@@ -22,7 +22,7 @@ subject to the following restrictions:
bool SpuEpaPenetrationDepthSolver::calcPenDepth( SpuVoronoiSimplexSolver& simplexSolver,
void* convexA,void* convexB,int shapeTypeA, int shapeTypeB, float marginA, float marginB,
btTransform& transA,const btTransform& transB,
btVector3& v, btPoint3& pa, btPoint3& pb,
btVector3& v, btVector3& pa, btVector3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc,
struct SpuConvexPolyhedronVertexData* convexVertexDataA,
struct SpuConvexPolyhedronVertexData* convexVertexDataB

2
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuEpaPenetrationDepthSolver.h
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@@ -33,7 +33,7 @@ public:
virtual bool calcPenDepth( SpuVoronoiSimplexSolver& simplexSolver,
void* convexA,void* convexB,int shapeTypeA, int shapeTypeB, float marginA, float marginB,
btTransform& transA,const btTransform& transB,
btVector3& v, btPoint3& pa, btPoint3& pb,
btVector3& v, btVector3& pa, btVector3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc,
struct SpuConvexPolyhedronVertexData* convexVertexDataA,
struct SpuConvexPolyhedronVertexData* convexVertexDataB

4
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGjkPairDetector.cpp
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@@ -110,8 +110,8 @@ void SpuGjkPairDetector::getClosestPoints(const SpuClosestPointInput& input,SpuC
btVector3 qInB = localGetSupportingVertexWithoutMargin(m_shapeTypeB, m_minkowskiB, seperatingAxisInB,input.m_convexVertexData[1]);//, &featureIndexB);
btPoint3 pWorld = localTransA(pInA);
btPoint3 qWorld = localTransB(qInB);
btVector3 pWorld = localTransA(pInA);
btVector3 qWorld = localTransB(qInB);
btVector3 w = pWorld - qWorld;
delta = m_cachedSeparatingAxis.dot(w);

2
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp
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@@ -72,7 +72,7 @@ btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( SpuVoronoiSimplexSolver& simplexSolver,
void* convexA,void* convexB,int shapeTypeA, int shapeTypeB, float marginA, float marginB,
btTransform& transA,const btTransform& transB,
btVector3& v, btPoint3& pa, btPoint3& pb,
btVector3& v, btVector3& pa, btVector3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc,
struct SpuConvexPolyhedronVertexData* convexVertexDataA,
struct SpuConvexPolyhedronVertexData* convexVertexDataB

2
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.h
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@@ -33,7 +33,7 @@ public:
virtual bool calcPenDepth( SpuVoronoiSimplexSolver& simplexSolver,
void* convexA,void* convexB,int shapeTypeA, int shapeTypeB, float marginA, float marginB,
btTransform& transA,const btTransform& transB,
btVector3& v, btPoint3& pa, btPoint3& pb,
btVector3& v, btVector3& pa, btVector3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc,
struct SpuConvexPolyhedronVertexData* convexVertexDataA,
struct SpuConvexPolyhedronVertexData* convexVertexDataB

20
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuVoronoiSimplexSolver.cpp
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@@ -77,7 +77,7 @@ void SpuVoronoiSimplexSolver::reset()
//add a vertex
void SpuVoronoiSimplexSolver::addVertex(const btVector3& w, const btPoint3& p, const btPoint3& q)
void SpuVoronoiSimplexSolver::addVertex(const btVector3& w, const btVector3& p, const btVector3& q)
{
m_lastW = w;
m_needsUpdate = true;
@@ -269,7 +269,7 @@ btScalar SpuVoronoiSimplexSolver::maxVertex()
//return the current simplex
int SpuVoronoiSimplexSolver::getSimplex(btPoint3 *pBuf, btPoint3 *qBuf, btVector3 *yBuf) const
int SpuVoronoiSimplexSolver::getSimplex(btVector3 *pBuf, btVector3 *qBuf, btVector3 *yBuf) const
{
int i;
for (i=0;i<numVertices();i++)
@@ -316,7 +316,7 @@ bool SpuVoronoiSimplexSolver::emptySimplex() const
}
void SpuVoronoiSimplexSolver::compute_points(btPoint3& p1, btPoint3& p2)
void SpuVoronoiSimplexSolver::compute_points(btVector3& p1, btVector3& p2)
{
updateClosestVectorAndPoints();
p1 = m_cachedP1;
@@ -327,7 +327,7 @@ void SpuVoronoiSimplexSolver::compute_points(btPoint3& p1, btPoint3& p2)
bool SpuVoronoiSimplexSolver::closestPtPointTriangle(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c,SpuSubSimplexClosestResult& result)
bool SpuVoronoiSimplexSolver::closestPtPointTriangle(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c,SpuSubSimplexClosestResult& result)
{
result.m_usedVertices.reset();
@@ -427,7 +427,7 @@ bool SpuVoronoiSimplexSolver::closestPtPointTriangle(const btPoint3& p, const bt
/// Test if point p and d lie on opposite sides of plane through abc
int SpuVoronoiSimplexSolver::pointOutsideOfPlane(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c, const btPoint3& d)
int SpuVoronoiSimplexSolver::pointOutsideOfPlane(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d)
{
btVector3 normal = (b-a).cross(c-a);
@@ -454,7 +454,7 @@ if (signd * signd < (btScalar(1e-8) * btScalar(1e-8)))
}
bool SpuVoronoiSimplexSolver::closestPtPointTetrahedron(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c, const btPoint3& d, SpuSubSimplexClosestResult& finalResult)
bool SpuVoronoiSimplexSolver::closestPtPointTetrahedron(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, SpuSubSimplexClosestResult& finalResult)
{
SpuSubSimplexClosestResult tempResult;
@@ -488,7 +488,7 @@ bool SpuVoronoiSimplexSolver::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
@@ -515,7 +515,7 @@ bool SpuVoronoiSimplexSolver::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);
@@ -542,7 +542,7 @@ bool SpuVoronoiSimplexSolver::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 SpuVoronoiSimplexSolver::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)

5
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuVoronoiSimplexSolver.h
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@@ -19,8 +19,7 @@ subject to the following restrictions:
#ifndef SPUVoronoiSimplexSolver_H
#define SPUVoronoiSimplexSolver_H
#include <LinearMath/btTransform.h>
#include <LinearMath/btPoint3.h>
#include "LinearMath/btTransform.h"
#define VORONOI_SIMPLEX_MAX_VERTS 5
@@ -123,7 +122,7 @@ 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);