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bt -> b3 and BT -> B3 rename for content and filenames

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This commit is contained in:
erwin coumans
2013-04-28 23:11:10 -07:00
parent 6bcb5b9d5f
commit 7366e262fd
178 changed files with 5218 additions and 5218 deletions
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138
src/Bullet3Geometry/b3ConvexHullComputer.cpp
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@@ -49,7 +49,7 @@ subject to the following restrictions:
// Convex hull implementation based on Preparata and Hong
// Ole Kniemeyer, MAXON Computer GmbH
class btConvexHullInternal
class b3ConvexHullInternal
{
public:
@@ -495,7 +495,7 @@ class btConvexHullInternal
}
for (Face* f = src->firstNearbyFace; f; f = f->nextWithSameNearbyVertex)
{
btAssert(f->nearbyVertex == src);
b3Assert(f->nearbyVertex == src);
f->nearbyVertex = this;
}
src->firstNearbyFace = NULL;
@@ -525,7 +525,7 @@ class btConvexHullInternal
void link(Edge* n)
{
btAssert(reverse->target == n->reverse->target);
b3Assert(reverse->target == n->reverse->target);
next = n;
n->prev = this;
}
@@ -673,12 +673,12 @@ class btConvexHullInternal
PoolArray(int size): size(size), next(NULL)
{
array = (T*) btAlignedAlloc(sizeof(T) * size, 16);
array = (T*) b3AlignedAlloc(sizeof(T) * size, 16);
}
~PoolArray()
{
btAlignedFree(array);
b3AlignedFree(array);
}
T* init()
@@ -712,7 +712,7 @@ class btConvexHullInternal
PoolArray<T>* p = arrays;
arrays = p->next;
p->~PoolArray<T>();
btAlignedFree(p);
b3AlignedFree(p);
}
}
@@ -739,7 +739,7 @@ class btConvexHullInternal
}
else
{
p = new(btAlignedAlloc(sizeof(PoolArray<T>), 16)) PoolArray<T>(arraySize);
p = new(b3AlignedAlloc(sizeof(PoolArray<T>), 16)) PoolArray<T>(arraySize);
p->next = arrays;
arrays = p;
}
@@ -781,7 +781,7 @@ class btConvexHullInternal
Edge* n = edge->next;
Edge* r = edge->reverse;
btAssert(edge->target && r->target);
b3Assert(edge->target && r->target);
if (n != edge)
{
@@ -835,7 +835,7 @@ class btConvexHullInternal
};
btConvexHullInternal::Int128 btConvexHullInternal::Int128::operator*(int64_t b) const
b3ConvexHullInternal::Int128 b3ConvexHullInternal::Int128::operator*(int64_t b) const
{
bool negative = (int64_t) high < 0;
Int128 a = negative ? -*this : *this;
@@ -849,7 +849,7 @@ btConvexHullInternal::Int128 btConvexHullInternal::Int128::operator*(int64_t b)
return negative ? -result : result;
}
btConvexHullInternal::Int128 btConvexHullInternal::Int128::mul(int64_t a, int64_t b)
b3ConvexHullInternal::Int128 b3ConvexHullInternal::Int128::mul(int64_t a, int64_t b)
{
Int128 result;
@@ -876,7 +876,7 @@ btConvexHullInternal::Int128 btConvexHullInternal::Int128::mul(int64_t a, int64_
#endif
}
btConvexHullInternal::Int128 btConvexHullInternal::Int128::mul(uint64_t a, uint64_t b)
b3ConvexHullInternal::Int128 b3ConvexHullInternal::Int128::mul(uint64_t a, uint64_t b)
{
Int128 result;
@@ -893,7 +893,7 @@ btConvexHullInternal::Int128 btConvexHullInternal::Int128::mul(uint64_t a, uint6
return result;
}
int btConvexHullInternal::Rational64::compare(const Rational64& b) const
int b3ConvexHullInternal::Rational64::compare(const Rational64& b) const
{
if (sign != b.sign)
{
@@ -937,7 +937,7 @@ int btConvexHullInternal::Rational64::compare(const Rational64& b) const
#endif
}
int btConvexHullInternal::Rational128::compare(const Rational128& b) const
int b3ConvexHullInternal::Rational128::compare(const Rational128& b) const
{
if (sign != b.sign)
{
@@ -964,7 +964,7 @@ int btConvexHullInternal::Rational128::compare(const Rational128& b) const
return nbdLow.ucmp(dbnLow) * sign;
}
int btConvexHullInternal::Rational128::compare(int64_t b) const
int b3ConvexHullInternal::Rational128::compare(int64_t b) const
{
if (isInt64)
{
@@ -995,9 +995,9 @@ int btConvexHullInternal::Rational128::compare(int64_t b) const
}
btConvexHullInternal::Edge* btConvexHullInternal::newEdgePair(Vertex* from, Vertex* to)
b3ConvexHullInternal::Edge* b3ConvexHullInternal::newEdgePair(Vertex* from, Vertex* to)
{
btAssert(from && to);
b3Assert(from && to);
Edge* e = edgePool.newObject();
Edge* r = edgePool.newObject();
e->reverse = r;
@@ -1016,22 +1016,22 @@ btConvexHullInternal::Edge* btConvexHullInternal::newEdgePair(Vertex* from, Vert
return e;
}
bool btConvexHullInternal::mergeProjection(IntermediateHull& h0, IntermediateHull& h1, Vertex*& c0, Vertex*& c1)
bool b3ConvexHullInternal::mergeProjection(IntermediateHull& h0, IntermediateHull& h1, Vertex*& c0, Vertex*& c1)
{
Vertex* v0 = h0.maxYx;
Vertex* v1 = h1.minYx;
if ((v0->point.x == v1->point.x) && (v0->point.y == v1->point.y))
{
btAssert(v0->point.z < v1->point.z);
b3Assert(v0->point.z < v1->point.z);
Vertex* v1p = v1->prev;
if (v1p == v1)
{
c0 = v0;
if (v1->edges)
{
btAssert(v1->edges->next == v1->edges);
b3Assert(v1->edges->next == v1->edges);
v1 = v1->edges->target;
btAssert(v1->edges->next == v1->edges);
b3Assert(v1->edges->next == v1->edges);
}
c1 = v1;
return false;
@@ -1201,7 +1201,7 @@ bool btConvexHullInternal::mergeProjection(IntermediateHull& h0, IntermediateHul
return true;
}
void btConvexHullInternal::computeInternal(int start, int end, IntermediateHull& result)
void b3ConvexHullInternal::computeInternal(int start, int end, IntermediateHull& result)
{
int n = end - start;
switch (n)
@@ -1229,7 +1229,7 @@ void btConvexHullInternal::computeInternal(int start, int end, IntermediateHull&
w = v;
v = t;
}
btAssert(v->point.z < w->point.z);
b3Assert(v->point.z < w->point.z);
v->next = v;
v->prev = v;
result.minXy = v;
@@ -1318,7 +1318,7 @@ void btConvexHullInternal::computeInternal(int start, int end, IntermediateHull&
}
#ifdef DEBUG_CONVEX_HULL
void btConvexHullInternal::IntermediateHull::print()
void b3ConvexHullInternal::IntermediateHull::print()
{
printf(" Hull\n");
for (Vertex* v = minXy; v; )
@@ -1355,7 +1355,7 @@ void btConvexHullInternal::IntermediateHull::print()
}
}
void btConvexHullInternal::Vertex::printGraph()
void b3ConvexHullInternal::Vertex::printGraph()
{
print();
printf("\nEdges\n");
@@ -1382,18 +1382,18 @@ void btConvexHullInternal::Vertex::printGraph()
}
#endif
btConvexHullInternal::Orientation btConvexHullInternal::getOrientation(const Edge* prev, const Edge* next, const Point32& s, const Point32& t)
b3ConvexHullInternal::Orientation b3ConvexHullInternal::getOrientation(const Edge* prev, const Edge* next, const Point32& s, const Point32& t)
{
btAssert(prev->reverse->target == next->reverse->target);
b3Assert(prev->reverse->target == next->reverse->target);
if (prev->next == next)
{
if (prev->prev == next)
{
Point64 n = t.cross(s);
Point64 m = (*prev->target - *next->reverse->target).cross(*next->target - *next->reverse->target);
btAssert(!m.isZero());
b3Assert(!m.isZero());
int64_t dot = n.dot(m);
btAssert(dot != 0);
b3Assert(dot != 0);
return (dot > 0) ? COUNTER_CLOCKWISE : CLOCKWISE;
}
return COUNTER_CLOCKWISE;
@@ -1408,7 +1408,7 @@ btConvexHullInternal::Orientation btConvexHullInternal::getOrientation(const Edg
}
}
btConvexHullInternal::Edge* btConvexHullInternal::findMaxAngle(bool ccw, const Vertex* start, const Point32& s, const Point64& rxs, const Point64& sxrxs, Rational64& minCot)
b3ConvexHullInternal::Edge* b3ConvexHullInternal::findMaxAngle(bool ccw, const Vertex* start, const Point32& s, const Point64& rxs, const Point64& sxrxs, Rational64& minCot)
{
Edge* minEdge = NULL;
@@ -1425,12 +1425,12 @@ btConvexHullInternal::Edge* btConvexHullInternal::findMaxAngle(bool ccw, const V
Point32 t = *e->target - *start;
Rational64 cot(t.dot(sxrxs), t.dot(rxs));
#ifdef DEBUG_CONVEX_HULL
printf(" Angle is %f (%d) for ", (float) btAtan(cot.toScalar()), (int) cot.isNaN());
printf(" Angle is %f (%d) for ", (float) b3Atan(cot.toScalar()), (int) cot.isNaN());
e->print();
#endif
if (cot.isNaN())
{
btAssert(ccw ? (t.dot(s) < 0) : (t.dot(s) > 0));
b3Assert(ccw ? (t.dot(s) < 0) : (t.dot(s) > 0));
}
else
{
@@ -1460,7 +1460,7 @@ btConvexHullInternal::Edge* btConvexHullInternal::findMaxAngle(bool ccw, const V
return minEdge;
}
void btConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge*& e0, Edge*& e1, Vertex* stop0, Vertex* stop1)
void b3ConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge*& e0, Edge*& e1, Vertex* stop0, Vertex* stop1)
{
Edge* start0 = e0;
Edge* start1 = e1;
@@ -1469,9 +1469,9 @@ void btConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge
Point32 s = c1->point - c0->point;
Point64 normal = ((start0 ? start0 : start1)->target->point - c0->point).cross(s);
int64_t dist = c0->point.dot(normal);
btAssert(!start1 || (start1->target->point.dot(normal) == dist));
b3Assert(!start1 || (start1->target->point.dot(normal) == dist));
Point64 perp = s.cross(normal);
btAssert(!perp.isZero());
b3Assert(!perp.isZero());
#ifdef DEBUG_CONVEX_HULL
printf(" Advancing %d %d (%p %p, %d %d)\n", c0->point.index, c1->point.index, start0, start1, start0 ? start0->target->point.index : -1, start1 ? start1->target->point.index : -1);
@@ -1487,7 +1487,7 @@ void btConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge
{
break;
}
btAssert(e->target->point.dot(normal) == dist);
b3Assert(e->target->point.dot(normal) == dist);
if (e->copy == mergeStamp)
{
break;
@@ -1513,7 +1513,7 @@ void btConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge
{
break;
}
btAssert(e->target->point.dot(normal) == dist);
b3Assert(e->target->point.dot(normal) == dist);
if (e->copy == mergeStamp)
{
break;
@@ -1578,7 +1578,7 @@ void btConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge
}
else
{
btAssert((e1 == start1) && (d1.dot(normal) < 0));
b3Assert((e1 == start1) && (d1.dot(normal) < 0));
}
}
}
@@ -1630,7 +1630,7 @@ void btConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge
}
else
{
btAssert((e0 == start0) && (d0.dot(normal) < 0));
b3Assert((e0 == start0) && (d0.dot(normal) < 0));
}
}
}
@@ -1644,7 +1644,7 @@ void btConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge
}
void btConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
void b3ConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
{
if (!h1.maxXy)
{
@@ -1675,7 +1675,7 @@ void btConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
Point32 s = *c1 - *c0;
Point64 normal = Point32(0, 0, -1).cross(s);
Point64 t = s.cross(normal);
btAssert(!t.isZero());
b3Assert(!t.isZero());
Edge* e = c0->edges;
Edge* start0 = NULL;
@@ -1684,7 +1684,7 @@ void btConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
do
{
int64_t dot = (*e->target - *c0).dot(normal);
btAssert(dot <= 0);
b3Assert(dot <= 0);
if ((dot == 0) && ((*e->target - *c0).dot(t) > 0))
{
if (!start0 || (getOrientation(start0, e, s, Point32(0, 0, -1)) == CLOCKWISE))
@@ -1703,7 +1703,7 @@ void btConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
do
{
int64_t dot = (*e->target - *c1).dot(normal);
btAssert(dot <= 0);
b3Assert(dot <= 0);
if ((dot == 0) && ((*e->target - *c1).dot(t) > 0))
{
if (!start1 || (getOrientation(start1, e, s, Point32(0, 0, -1)) == COUNTER_CLOCKWISE))
@@ -1932,12 +1932,12 @@ void btConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
}
static bool pointCmp(const btConvexHullInternal::Point32& p, const btConvexHullInternal::Point32& q)
static bool pointCmp(const b3ConvexHullInternal::Point32& p, const b3ConvexHullInternal::Point32& q)
{
return (p.y < q.y) || ((p.y == q.y) && ((p.x < q.x) || ((p.x == q.x) && (p.z < q.z))));
}
void btConvexHullInternal::compute(const void* coords, bool doubleCoords, int stride, int count)
void b3ConvexHullInternal::compute(const void* coords, bool doubleCoords, int stride, int count)
{
b3Vector3 min(b3Scalar(1e30), b3Scalar(1e30), b3Scalar(1e30)), max(b3Scalar(-1e30), b3Scalar(-1e30), b3Scalar(-1e30));
const char* ptr = (const char*) coords;
@@ -2058,7 +2058,7 @@ void btConvexHullInternal::compute(const void* coords, bool doubleCoords, int st
#endif
}
b3Vector3 btConvexHullInternal::toBtVector(const Point32& v)
b3Vector3 b3ConvexHullInternal::toBtVector(const Point32& v)
{
b3Vector3 p;
p[medAxis] = b3Scalar(v.x);
@@ -2067,12 +2067,12 @@ b3Vector3 btConvexHullInternal::toBtVector(const Point32& v)
return p * scaling;
}
b3Vector3 btConvexHullInternal::getBtNormal(Face* face)
b3Vector3 b3ConvexHullInternal::getBtNormal(Face* face)
{
return toBtVector(face->dir0).cross(toBtVector(face->dir1)).normalized();
}
b3Vector3 btConvexHullInternal::getCoordinates(const Vertex* v)
b3Vector3 b3ConvexHullInternal::getCoordinates(const Vertex* v)
{
b3Vector3 p;
p[medAxis] = v->xvalue();
@@ -2081,7 +2081,7 @@ b3Vector3 btConvexHullInternal::getCoordinates(const Vertex* v)
return p * scaling + center;
}
b3Scalar btConvexHullInternal::shrink(b3Scalar amount, b3Scalar clampAmount)
b3Scalar b3ConvexHullInternal::shrink(b3Scalar amount, b3Scalar clampAmount)
{
if (!vertexList)
{
@@ -2127,7 +2127,7 @@ b3Scalar btConvexHullInternal::shrink(b3Scalar amount, b3Scalar clampAmount)
if (a && b)
{
int64_t vol = (v->point - ref).dot((a->point - ref).cross(b->point - ref));
btAssert(vol >= 0);
b3Assert(vol >= 0);
Point32 c = v->point + a->point + b->point + ref;
hullCenterX += vol * c.x;
hullCenterY += vol * c.y;
@@ -2135,7 +2135,7 @@ b3Scalar btConvexHullInternal::shrink(b3Scalar amount, b3Scalar clampAmount)
volume += vol;
}
btAssert(f->copy != stamp);
b3Assert(f->copy != stamp);
f->copy = stamp;
f->face = face;
@@ -2182,13 +2182,13 @@ b3Scalar btConvexHullInternal::shrink(b3Scalar amount, b3Scalar clampAmount)
return 0;
}
amount = btMin(amount, minDist * clampAmount);
amount = b3Min(amount, minDist * clampAmount);
}
unsigned int seed = 243703;
for (int i = 0; i < faceCount; i++, seed = 1664525 * seed + 1013904223)
{
btSwap(faces[i], faces[seed % faceCount]);
b3Swap(faces[i], faces[seed % faceCount]);
}
for (int i = 0; i < faceCount; i++)
@@ -2202,7 +2202,7 @@ b3Scalar btConvexHullInternal::shrink(b3Scalar amount, b3Scalar clampAmount)
return amount;
}
bool btConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjectArray<Vertex*> stack)
bool b3ConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjectArray<Vertex*> stack)
{
b3Vector3 origShift = getBtNormal(face) * -amount;
if (scaling[0] != 0)
@@ -2230,7 +2230,7 @@ bool btConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
int64_t origDot = face->origin.dot(normal);
Point32 shiftedOrigin = face->origin + shift;
int64_t shiftedDot = shiftedOrigin.dot(normal);
btAssert(shiftedDot <= origDot);
b3Assert(shiftedDot <= origDot);
if (shiftedDot >= origDot)
{
return false;
@@ -2258,7 +2258,7 @@ bool btConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
n++;
#endif
Rational128 dot = e->target->dot(normal);
btAssert(dot.compare(origDot) <= 0);
b3Assert(dot.compare(origDot) <= 0);
#ifdef DEBUG_CONVEX_HULL
printf("Moving downwards, edge is ");
e->print();
@@ -2294,7 +2294,7 @@ bool btConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
n++;
#endif
Rational128 dot = e->target->dot(normal);
btAssert(dot.compare(origDot) <= 0);
b3Assert(dot.compare(origDot) <= 0);
#ifdef DEBUG_CONVEX_HULL
printf("Moving upwards, edge is ");
e->print();
@@ -2426,7 +2426,7 @@ bool btConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
n++;
#endif
e = e->reverse->prev;
btAssert(e != intersection->reverse);
b3Assert(e != intersection->reverse);
cmp = e->target->dot(normal).compare(shiftedDot);
#ifdef DEBUG_CONVEX_HULL
printf("Testing edge ");
@@ -2470,7 +2470,7 @@ bool btConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
int64_t r0 = (intersection->face->origin - shiftedOrigin).dot(n0);
int64_t r1 = (intersection->reverse->face->origin - shiftedOrigin).dot(n1);
Int128 det = Int128::mul(m00, m11) - Int128::mul(m01, m10);
btAssert(det.getSign() != 0);
b3Assert(det.getSign() != 0);
Vertex* v = vertexPool.newObject();
v->point.index = -1;
v->copy = -1;
@@ -2568,7 +2568,7 @@ bool btConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
stack.push_back(NULL);
}
btAssert(stack.size() > 0);
b3Assert(stack.size() > 0);
vertexList = stack[0];
#ifdef DEBUG_CONVEX_HULL
@@ -2623,7 +2623,7 @@ bool btConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjec
}
static int getVertexCopy(btConvexHullInternal::Vertex* vertex, b3AlignedObjectArray<btConvexHullInternal::Vertex*>& vertices)
static int getVertexCopy(b3ConvexHullInternal::Vertex* vertex, b3AlignedObjectArray<b3ConvexHullInternal::Vertex*>& vertices)
{
int index = vertex->copy;
if (index < 0)
@@ -2648,7 +2648,7 @@ b3Scalar b3ConvexHullComputer::compute(const void* coords, bool doubleCoords, in
return 0;
}
btConvexHullInternal hull;
b3ConvexHullInternal hull;
hull.compute(coords, doubleCoords, stride, count);
b3Scalar shift = 0;
@@ -2664,19 +2664,19 @@ b3Scalar b3ConvexHullComputer::compute(const void* coords, bool doubleCoords, in
edges.resize(0);
faces.resize(0);
b3AlignedObjectArray<btConvexHullInternal::Vertex*> oldVertices;
b3AlignedObjectArray<b3ConvexHullInternal::Vertex*> oldVertices;
getVertexCopy(hull.vertexList, oldVertices);
int copied = 0;
while (copied < oldVertices.size())
{
btConvexHullInternal::Vertex* v = oldVertices[copied];
b3ConvexHullInternal::Vertex* v = oldVertices[copied];
vertices.push_back(hull.getCoordinates(v));
btConvexHullInternal::Edge* firstEdge = v->edges;
b3ConvexHullInternal::Edge* firstEdge = v->edges;
if (firstEdge)
{
int firstCopy = -1;
int prevCopy = -1;
btConvexHullInternal::Edge* e = firstEdge;
b3ConvexHullInternal::Edge* e = firstEdge;
do
{
if (e->copy < 0)
@@ -2714,11 +2714,11 @@ b3Scalar b3ConvexHullComputer::compute(const void* coords, bool doubleCoords, in
for (int i = 0; i < copied; i++)
{
btConvexHullInternal::Vertex* v = oldVertices[i];
btConvexHullInternal::Edge* firstEdge = v->edges;
b3ConvexHullInternal::Vertex* v = oldVertices[i];
b3ConvexHullInternal::Edge* firstEdge = v->edges;
if (firstEdge)
{
btConvexHullInternal::Edge* e = firstEdge;
b3ConvexHullInternal::Edge* e = firstEdge;
do
{
if (e->copy >= 0)
@@ -2727,7 +2727,7 @@ b3Scalar b3ConvexHullComputer::compute(const void* coords, bool doubleCoords, in
printf("Vertex *%d has edge to *%d\n", i, edges[e->copy].getTargetVertex());
#endif
faces.push_back(e->copy);
btConvexHullInternal::Edge* f = e;
b3ConvexHullInternal::Edge* f = e;
do
{
#ifdef DEBUG_CONVEX_HULL