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make the source code compile with older compilers again (Visual Studio 2006 in particular)

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renamed btDbvt::Volume to btDbvtVolume and btDbvt::Node to btDbvtNode to distinguish from btSoftBody::Node
This commit is contained in:
erwin.coumans
2008-07-15 23:27:18 +00:00
parent 6f8b396575
commit 884a494412
17 changed files with 1557 additions and 1482 deletions
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174
src/BulletSoftBody/btSoftBody.cpp
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@@ -421,19 +421,21 @@ static void PointersToIndices(btSoftBody* psb)
{
#define PTR2IDX(_p_,_b_) reinterpret_cast<btSoftBody::Node*>((_p_)-(_b_))
btSoftBody::Node* base=&psb->m_nodes[0];
for(int i=0,ni=psb->m_nodes.size();i<ni;++i)
int i,ni;
for(i=0,ni=psb->m_nodes.size();i<ni;++i)
{
if(psb->m_nodes[i].m_leaf)
{
psb->m_nodes[i].m_leaf->data=*(void**)&i;
}
}
for(int i=0,ni=psb->m_links.size();i<ni;++i)
for(i=0,ni=psb->m_links.size();i<ni;++i)
{
psb->m_links[i].m_n[0]=PTR2IDX(psb->m_links[i].m_n[0],base);
psb->m_links[i].m_n[1]=PTR2IDX(psb->m_links[i].m_n[1],base);
}
for(int i=0,ni=psb->m_faces.size();i<ni;++i)
for(i=0,ni=psb->m_faces.size();i<ni;++i)
{
psb->m_faces[i].m_n[0]=PTR2IDX(psb->m_faces[i].m_n[0],base);
psb->m_faces[i].m_n[1]=PTR2IDX(psb->m_faces[i].m_n[1],base);
@@ -443,11 +445,11 @@ static void PointersToIndices(btSoftBody* psb)
psb->m_faces[i].m_leaf->data=*(void**)&i;
}
}
for(int i=0,ni=psb->m_anchors.size();i<ni;++i)
for(i=0,ni=psb->m_anchors.size();i<ni;++i)
{
psb->m_anchors[i].m_node=PTR2IDX(psb->m_anchors[i].m_node,base);
}
for(int i=0,ni=psb->m_notes.size();i<ni;++i)
for(i=0,ni=psb->m_notes.size();i<ni;++i)
{
for(int j=0;j<psb->m_notes[i].m_rank;++j)
{
@@ -463,19 +465,21 @@ static void IndicesToPointers(btSoftBody* psb,const int* map=0)
#define IDX2PTR(_p_,_b_) map?(&(_b_)[map[(((char*)_p_)-(char*)0)]]): \
(&(_b_)[(((char*)_p_)-(char*)0)])
btSoftBody::Node* base=&psb->m_nodes[0];
for(int i=0,ni=psb->m_nodes.size();i<ni;++i)
int i,ni;
for(i=0,ni=psb->m_nodes.size();i<ni;++i)
{
if(psb->m_nodes[i].m_leaf)
{
psb->m_nodes[i].m_leaf->data=&psb->m_nodes[i];
}
}
for(int i=0,ni=psb->m_links.size();i<ni;++i)
for(i=0,ni=psb->m_links.size();i<ni;++i)
{
psb->m_links[i].m_n[0]=IDX2PTR(psb->m_links[i].m_n[0],base);
psb->m_links[i].m_n[1]=IDX2PTR(psb->m_links[i].m_n[1],base);
}
for(int i=0,ni=psb->m_faces.size();i<ni;++i)
for(i=0,ni=psb->m_faces.size();i<ni;++i)
{
psb->m_faces[i].m_n[0]=IDX2PTR(psb->m_faces[i].m_n[0],base);
psb->m_faces[i].m_n[1]=IDX2PTR(psb->m_faces[i].m_n[1],base);
@@ -485,11 +489,11 @@ static void IndicesToPointers(btSoftBody* psb,const int* map=0)
psb->m_faces[i].m_leaf->data=&psb->m_faces[i];
}
}
for(int i=0,ni=psb->m_anchors.size();i<ni;++i)
for(i=0,ni=psb->m_anchors.size();i<ni;++i)
{
psb->m_anchors[i].m_node=IDX2PTR(psb->m_anchors[i].m_node,base);
}
for(int i=0,ni=psb->m_notes.size();i<ni;++i)
for(i=0,ni=psb->m_notes.size();i<ni;++i)
{
for(int j=0;j<psb->m_notes[i].m_rank;++j)
{
@@ -500,13 +504,13 @@ static void IndicesToPointers(btSoftBody* psb,const int* map=0)
}
//
static inline btDbvt::Volume VolumeOf( const btSoftBody::Face& f,
static inline btDbvtVolume VolumeOf( const btSoftBody::Face& f,
btScalar margin)
{
const btVector3* pts[]={ &f.m_n[0]->m_x,
&f.m_n[1]->m_x,
&f.m_n[2]->m_x};
btDbvt::Volume vol=btDbvt::Volume::FromPoints(pts,3);
btDbvtVolume vol=btDbvtVolume::FromPoints(pts,3);
vol.Expand(btVector3(margin,margin,margin));
return(vol);
}
@@ -585,7 +589,7 @@ struct RayCaster : btDbvt::ICollide
face = 0;
tests = 0;
}
void Process(const btDbvt::Node* leaf)
void Process(const btDbvtNode* leaf)
{
btSoftBody::Face& f=*(btSoftBody::Face*)leaf->data;
const btScalar t=RayTriangle( o,d,
@@ -723,11 +727,13 @@ static bool CheckContact( btSoftBody* psb,
static void UpdateNormals(btSoftBody* psb)
{
const btVector3 zv(0,0,0);
for(int i=0,ni=psb->m_nodes.size();i<ni;++i)
int i,ni;
for(i=0,ni=psb->m_nodes.size();i<ni;++i)
{
psb->m_nodes[i].m_n=zv;
}
for(int i=0,ni=psb->m_faces.size();i<ni;++i)
for(i=0,ni=psb->m_faces.size();i<ni;++i)
{
btSoftBody::Face& f=psb->m_faces[i];
const btVector3 n=cross(f.m_n[1]->m_x-f.m_n[0]->m_x,
@@ -737,7 +743,7 @@ static void UpdateNormals(btSoftBody* psb)
f.m_n[1]->m_n+=n;
f.m_n[2]->m_n+=n;
}
for(int i=0,ni=psb->m_nodes.size();i<ni;++i)
for(i=0,ni=psb->m_nodes.size();i<ni;++i)
{
psb->m_nodes[i].m_n.normalize();
}
@@ -811,8 +817,10 @@ static void UpdatePose(btSoftBody* psb)
//
static void UpdateConstants(btSoftBody* psb)
{
int i,ni;
/* Links */
for(int i=0,ni=psb->m_links.size();i<ni;++i)
for(i=0,ni=psb->m_links.size();i<ni;++i)
{
btSoftBody::Link& l=psb->m_links[i];
btSoftBody::Material& m=*l.m_material;
@@ -821,7 +829,7 @@ static void UpdateConstants(btSoftBody* psb)
l.m_c1 = l.m_rl*l.m_rl;
}
/* Faces */
for(int i=0,ni=psb->m_faces.size();i<ni;++i)
for(i=0,ni=psb->m_faces.size();i<ni;++i)
{
btSoftBody::Face& f=psb->m_faces[i];
f.m_ra = AreaOf(f.m_n[0]->m_x,f.m_n[1]->m_x,f.m_n[2]->m_x);
@@ -829,11 +837,11 @@ static void UpdateConstants(btSoftBody* psb)
/* Area's */
btAlignedObjectArray<int> counts;
counts.resize(psb->m_nodes.size(),0);
for(int i=0,ni=psb->m_nodes.size();i<ni;++i)
for(i=0,ni=psb->m_nodes.size();i<ni;++i)
{
psb->m_nodes[i].m_area = 0;
}
for(int i=0,ni=psb->m_faces.size();i<ni;++i)
for(i=0,ni=psb->m_faces.size();i<ni;++i)
{
btSoftBody::Face& f=psb->m_faces[i];
for(int j=0;j<3;++j)
@@ -843,7 +851,7 @@ static void UpdateConstants(btSoftBody* psb)
f.m_n[j]->m_area+=btFabs(f.m_ra);
}
}
for(int i=0,ni=psb->m_nodes.size();i<ni;++i)
for(i=0,ni=psb->m_nodes.size();i<ni;++i)
{
if(counts[i]>0)
psb->m_nodes[i].m_area/=(btScalar)counts[i];
@@ -872,6 +880,7 @@ static inline void ApplyClampedForce( btSoftBody::Node& n,
static void ApplyForces(btSoftBody* psb,btScalar dt)
{
BT_PROFILE("SoftBody applyForces");
int i,ni;
const btScalar kLF=psb->m_cfg.kLF;
const btScalar kDG=psb->m_cfg.kDG;
const btScalar kPR=psb->m_cfg.kPR;
@@ -900,7 +909,7 @@ static void ApplyForces(btSoftBody* psb,btScalar dt)
dvolumetv = (psb->m_pose.m_volume-volume)*kVC;
}
/* Per vertex forces */
for(int i=0,ni=psb->m_nodes.size();i<ni;++i)
for(i=0,ni=psb->m_nodes.size();i<ni;++i)
{
btSoftBody::Node& n=psb->m_nodes[i];
if(n.m_im>0)
@@ -951,7 +960,7 @@ static void ApplyForces(btSoftBody* psb,btScalar dt)
}
}
/* Per face forces */
for(int i=0,ni=psb->m_faces.size();i<ni;++i)
for(i=0,ni=psb->m_faces.size();i<ni;++i)
{
btSoftBody::Face& f=psb->m_faces[i];
if(as_faero)
@@ -1171,7 +1180,7 @@ btSoftBody::btSoftBody(btSoftBody::btSoftBodyWorldInfo* worldInfo,int node_count
n.m_q = n.m_x;
n.m_im = m?*m++:1;
n.m_im = n.m_im>0?1/n.m_im:0;
n.m_leaf = m_ndbvt.insert(btDbvt::Volume::FromCR(n.m_x,margin),&n);
n.m_leaf = m_ndbvt.insert(btDbvtVolume::FromCR(n.m_x,margin),&n);
n.m_material= pm;
}
UpdateBounds(this);
@@ -1313,7 +1322,7 @@ n.m_x = x;
n.m_q = n.m_x;
n.m_im = m>0?1/m:0;
n.m_material = m_materials[0];
n.m_leaf = m_ndbvt.insert(btDbvt::Volume::FromCR(n.m_x,margin),&n);
n.m_leaf = m_ndbvt.insert(btDbvtVolume::FromCR(n.m_x,margin),&n);
}
//
@@ -1448,13 +1457,16 @@ btScalar btSoftBody::getTotalMass() const
//
void btSoftBody::setTotalMass(btScalar mass,bool fromfaces)
{
int i;
if(fromfaces)
{
for(int i=0;i<m_nodes.size();++i)
for(i=0;i<m_nodes.size();++i)
{
m_nodes[i].m_im=0;
}
for(int i=0;i<m_faces.size();++i)
for(i=0;i<m_faces.size();++i)
{
const Face& f=m_faces[i];
const btScalar twicearea=AreaOf( f.m_n[0]->m_x,
@@ -1465,14 +1477,14 @@ void btSoftBody::setTotalMass(btScalar mass,bool fromfaces)
f.m_n[j]->m_im+=twicearea;
}
}
for(int i=0;i<m_nodes.size();++i)
for(i=0;i<m_nodes.size();++i)
{
m_nodes[i].m_im=1/m_nodes[i].m_im;
}
}
const btScalar tm=getTotalMass();
const btScalar itm=1/tm;
for(int i=0;i<m_nodes.size();++i)
for( i=0;i<m_nodes.size();++i)
{
m_nodes[i].m_im/=itm*mass;
}
@@ -1495,7 +1507,7 @@ void btSoftBody::transform(const btTransform& trs)
n.m_x=trs*n.m_x;
n.m_q=trs*n.m_q;
n.m_n=trs.getBasis()*n.m_n;
m_ndbvt.update(n.m_leaf,btDbvt::Volume::FromCR(n.m_x,margin));
m_ndbvt.update(n.m_leaf,btDbvtVolume::FromCR(n.m_x,margin));
}
UpdateNormals(this);
UpdateBounds(this);
@@ -1529,7 +1541,7 @@ void btSoftBody::scale(const btVector3& scl)
Node& n=m_nodes[i];
n.m_x*=scl;
n.m_q*=scl;
m_ndbvt.update(n.m_leaf,btDbvt::Volume::FromCR(n.m_x,margin));
m_ndbvt.update(n.m_leaf,btDbvtVolume::FromCR(n.m_x,margin));
}
UpdateNormals(this);
UpdateBounds(this);
@@ -1546,11 +1558,13 @@ void btSoftBody::setPose(bool bvolume,bool bframe)
const btScalar kmass=omass*m_nodes.size()*1000;
btScalar tmass=omass;
m_pose.m_wgh.resize(m_nodes.size());
for(int i=0,ni=m_nodes.size();i<ni;++i)
int i,ni;
for(i=0,ni=m_nodes.size();i<ni;++i)
{
if(m_nodes[i].m_im<=0) tmass+=kmass;
}
for(int i=0,ni=m_nodes.size();i<ni;++i)
for(i=0,ni=m_nodes.size();i<ni;++i)
{
Node& n=m_nodes[i];
m_pose.m_wgh[i]= n.m_im>0 ?
@@ -1560,7 +1574,7 @@ void btSoftBody::setPose(bool bvolume,bool bframe)
/* Pos */
const btVector3 com=EvaluateCom(this);
m_pose.m_pos.resize(m_nodes.size());
for(int i=0,ni=m_nodes.size();i<ni;++i)
for(i=0,ni=m_nodes.size();i<ni;++i)
{
m_pose.m_pos[i]=m_nodes[i].m_x-com;
}
@@ -1572,7 +1586,7 @@ void btSoftBody::setPose(bool bvolume,bool bframe)
m_pose.m_aqq[0] =
m_pose.m_aqq[1] =
m_pose.m_aqq[2] = btVector3(0,0,0);
for(int i=0,ni=m_nodes.size();i<ni;++i)
for(i=0,ni=m_nodes.size();i<ni;++i)
{
const btVector3& q=m_pose.m_pos[i];
const btVector3 mq=m_pose.m_wgh[i]*q;
@@ -1611,7 +1625,10 @@ int btSoftBody::generateBendingConstraints(int distance,Material* mat)
const unsigned inf=(~(unsigned)0)>>1;
unsigned* adj=new unsigned[n*n];
#define IDX(_x_,_y_) ((_y_)*n+(_x_))
for(int j=0;j<n;++j)
int i,j;
for( j=0;j<n;++j)
{
for(int i=0;i<n;++i)
{
@@ -1620,7 +1637,7 @@ int btSoftBody::generateBendingConstraints(int distance,Material* mat)
adj[IDX(i,j)]=adj[IDX(j,i)]=0;
}
}
for(int i=0;i<m_links.size();++i)
for(i=0;i<m_links.size();++i)
{
const int ia=(int)(m_links[i].m_n[0]-&m_nodes[0]);
const int ib=(int)(m_links[i].m_n[1]-&m_nodes[0]);
@@ -1629,7 +1646,7 @@ int btSoftBody::generateBendingConstraints(int distance,Material* mat)
}
for(int k=0;k<n;++k)
{
for(int j=0;j<n;++j)
for(j=0;j<n;++j)
{
for(int i=j+1;i<n;++i)
{
@@ -1643,7 +1660,7 @@ int btSoftBody::generateBendingConstraints(int distance,Material* mat)
}
/* Build links */
int nlinks=0;
for(int j=0;j<n;++j)
for(j=0;j<n;++j)
{
for(int i=j+1;i<n;++i)
{
@@ -1666,11 +1683,14 @@ void btSoftBody::randomizeConstraints()
{
unsigned long seed=243703;
#define NEXTRAND (seed=(1664525L*seed+1013904223L)&0xffffffff)
for(int i=0,ni=m_links.size();i<ni;++i)
int i,ni;
for(i=0,ni=m_links.size();i<ni;++i)
{
btSwap(m_links[i],m_links[NEXTRAND%ni]);
}
for(int i=0,ni=m_faces.size();i<ni;++i)
for(i=0,ni=m_faces.size();i<ni;++i)
{
btSwap(m_faces[i],m_faces[NEXTRAND%ni]);
}
@@ -1680,12 +1700,14 @@ unsigned long seed=243703;
//
void btSoftBody::refine(ImplicitFn* ifn,btScalar accurary,bool cut)
{
const Node* nbase(&m_nodes[0]);
Node* nbase = &m_nodes[0];
int ncount(m_nodes.size());
btSymMatrix<int> edges(ncount,-2);
int newnodes=0;
int i,ni;
/* Filter out */
for(int i=0;i<m_links.size();++i)
for(i=0;i<m_links.size();++i)
{
Link& l=m_links[i];
if(l.m_bbending)
@@ -1698,12 +1720,12 @@ for(int i=0;i<m_links.size();++i)
}
}
/* Fill edges */
for(int i=0;i<m_links.size();++i)
for(i=0;i<m_links.size();++i)
{
Link& l=m_links[i];
edges(int(l.m_n[0]-nbase),int(l.m_n[1]-nbase))=-1;
}
for(int i=0;i<m_faces.size();++i)
for(i=0;i<m_faces.size();++i)
{
Face& f=m_faces[i];
edges(int(f.m_n[0]-nbase),int(f.m_n[1]-nbase))=-1;
@@ -1711,7 +1733,7 @@ for(int i=0;i<m_faces.size();++i)
edges(int(f.m_n[2]-nbase),int(f.m_n[0]-nbase))=-1;
}
/* Intersect */
for(int i=0;i<ncount;++i)
for(i=0;i<ncount;++i)
{
for(int j=i+1;j<ncount;++j)
{
@@ -1757,7 +1779,7 @@ for(int i=0;i<ncount;++i)
}
nbase=&m_nodes[0];
/* Refine links */
for(int i=0,ni=m_links.size();i<ni;++i)
for(i=0,ni=m_links.size();i<ni;++i)
{
Link& feat=m_links[i];
const int idx[]={ int(feat.m_n[0]-nbase),
@@ -1778,7 +1800,7 @@ for(int i=0,ni=m_links.size();i<ni;++i)
}
}
/* Refine faces */
for(int i=0;i<m_faces.size();++i)
for(i=0;i<m_faces.size();++i)
{
const Face& feat=m_faces[i];
const int idx[]={ int(feat.m_n[0]-nbase),
@@ -1815,7 +1837,7 @@ if(cut)
ncount=m_nodes.size();
cnodes.resize(ncount,0);
/* Nodes */
for(int i=0;i<ncount;++i)
for(i=0;i<ncount;++i)
{
const btVector3 x=m_nodes[i].m_x;
if((i>=pcount)||(btFabs(ifn->Eval(x))<accurary))
@@ -1830,7 +1852,7 @@ if(cut)
}
nbase=&m_nodes[0];
/* Links */
for(int i=0,ni=m_links.size();i<ni;++i)
for(i=0,ni=m_links.size();i<ni;++i)
{
const int id[]={ int(m_links[i].m_n[0]-nbase),
int(m_links[i].m_n[1]-nbase)};
@@ -1857,7 +1879,7 @@ if(cut)
}
}
/* Faces */
for(int i=0,ni=m_faces.size();i<ni;++i)
for( i=0,ni=m_faces.size();i<ni;++i)
{
Node** n= m_faces[i].m_n;
if( (ifn->Eval(n[0]->m_x)<accurary)&&
@@ -1876,15 +1898,15 @@ if(cut)
btAlignedObjectArray<int> ranks;
btAlignedObjectArray<int> todelete;
ranks.resize(nnodes,0);
for(int i=0,ni=m_links.size();i<ni;++i)
for(i=0,ni=m_links.size();i<ni;++i)
{
for(int j=0;j<2;++j) ranks[int(m_links[i].m_n[j]-nbase)]++;
}
for(int i=0,ni=m_faces.size();i<ni;++i)
for(i=0,ni=m_faces.size();i<ni;++i)
{
for(int j=0;j<3;++j) ranks[int(m_faces[i].m_n[j]-nbase)]++;
}
for(int i=0;i<m_links.size();++i)
for(i=0;i<m_links.size();++i)
{
const int id[]={ int(m_links[i].m_n[0]-nbase),
int(m_links[i].m_n[1]-nbase)};
@@ -1899,7 +1921,7 @@ if(cut)
}
}
#if 0
for(int i=nnodes-1;i>=0;--i)
for(i=nnodes-1;i>=0;--i)
{
if(!ranks[i]) todelete.push_back(i);
}
@@ -1957,7 +1979,9 @@ Node* pn[2]={ &m_nodes[m_nodes.size()-2],
&m_nodes[m_nodes.size()-1]};
pn[0]->m_v=v;
pn[1]->m_v=v;
for(int i=0,ni=m_links.size();i<ni;++i)
int i,ni;
for(i=0,ni=m_links.size();i<ni;++i)
{
const int mtch=MatchEdge(m_links[i].m_n[0],m_links[i].m_n[1],pa,pb);
if(mtch!=-1)
@@ -1969,7 +1993,7 @@ for(int i=0,ni=m_links.size();i<ni;++i)
done=true;
}
}
for(int i=0,ni=m_faces.size();i<ni;++i)
for(i=0,ni=m_faces.size();i<ni;++i)
{
for(int k=2,l=0;l<3;k=l++)
{
@@ -2070,7 +2094,7 @@ void btSoftBody::predictMotion(btScalar dt)
n.m_v += n.m_f*n.m_im*m_sst.sdt;
n.m_x += n.m_v*m_sst.sdt;
m_ndbvt.update( n.m_leaf,
btDbvt::Volume::FromCR(n.m_x,m_sst.radmrg),
btDbvtVolume::FromCR(n.m_x,m_sst.radmrg),
n.m_v*m_sst.velmrg,
m_sst.updmrg);
}
@@ -2116,15 +2140,17 @@ void btSoftBody::predictMotion(btScalar dt)
//
void btSoftBody::solveConstraints()
{
int i,ni;
/* Prepare links */
for(int i=0,ni=m_links.size();i<ni;++i)
for(i=0,ni=m_links.size();i<ni;++i)
{
Link& l=m_links[i];
l.m_c3 = l.m_n[1]->m_x-l.m_n[0]->m_x;
l.m_c2 = 1/(l.m_c3.length2()*l.m_c0);
}
/* Prepare anchors */
for(int i=0,ni=m_anchors.size();i<ni;++i)
for(i=0,ni=m_anchors.size();i<ni;++i)
{
Anchor& a=m_anchors[i];
const btVector3 ra=a.m_body->getWorldTransform().getBasis()*a.m_local;
@@ -2177,7 +2203,7 @@ if(m_cfg.piterations>0)
if(m_cfg.diterations>0)
{
const btScalar vcf=m_cfg.kVCF*m_sst.isdt;
for(int i=0,ni=m_nodes.size();i<ni;++i)
for(i=0,ni=m_nodes.size();i<ni;++i)
{
Node& n=m_nodes[i];
n.m_q = n.m_x;
@@ -2189,7 +2215,7 @@ if(m_cfg.diterations>0)
PSolvers[m_cfg.m_dsequence[iseq]](this,1);
}
}
for(int i=0,ni=m_nodes.size();i<ni;++i)
for(i=0,ni=m_nodes.size();i<ni;++i)
{
Node& n=m_nodes[i];
n.m_v += (n.m_x-n.m_q)*vcf;
@@ -2231,15 +2257,15 @@ switch(m_cfg.collisions&fCollision::RVSmask)
{
struct DoCollide : btDbvt::ICollide
{
void Process(const btDbvt::Node* leaf)
void Process(const btDbvtNode* leaf)
{
Node* node=(Node*)leaf->data;
btSoftBody::Node* node=(btSoftBody::Node*)leaf->data;
DoNode(*node);
}
void DoNode(Node& n) const
void DoNode(btSoftBody::Node& n) const
{
const btScalar m=n.m_im>0?dynmargin:stamargin;
RContact c;
btSoftBody::RContact c;
if( (!n.m_battach)&&
CheckContact(psb,prb,n.m_x,m,c.m_cti))
{
@@ -2280,11 +2306,11 @@ switch(m_cfg.collisions&fCollision::RVSmask)
const btScalar basemargin=getCollisionShape()->getMargin();
btVector3 mins;
btVector3 maxs;
btDbvt::Volume volume;
btDbvtVolume volume;
pco->getCollisionShape()->getAabb( pco->getInterpolationWorldTransform(),
mins,
maxs);
volume=btDbvt::Volume::FromMM(mins,maxs);
volume=btDbvtVolume::FromMM(mins,maxs);
volume.Expand(btVector3(basemargin,basemargin,basemargin));
docollide.psb = this;
docollide.prb = prb;
@@ -2306,11 +2332,11 @@ switch(cf&fCollision::SVSmask)
{
struct DoCollide : btDbvt::ICollide
{
void Process(const btDbvt::Node* lnode,
const btDbvt::Node* lface)
void Process(const btDbvtNode* lnode,
const btDbvtNode* lface)
{
Node* node=(Node*)lnode->data;
Face* face=(Face*)lface->data;
btSoftBody::Node* node=(btSoftBody::Node*)lnode->data;
btSoftBody::Face* face=(btSoftBody::Face*)lface->data;
btVector3 o=node->m_x;
btVector3 p;
btScalar d=SIMD_INFINITY;
@@ -2321,7 +2347,7 @@ switch(cf&fCollision::SVSmask)
const btScalar m=mrg+(o-node->m_q).length()*2;
if(d<(m*m))
{
const Node* n[]={face->m_n[0],face->m_n[1],face->m_n[2]};
const btSoftBody::Node* n[]={face->m_n[0],face->m_n[1],face->m_n[2]};
const btVector3 w=BaryCoord(n[0]->m_x,n[1]->m_x,n[2]->m_x,p+o);
const btScalar ma=node->m_im;
btScalar mb=BaryEval(n[0]->m_im,n[1]->m_im,n[2]->m_im,w);
@@ -2334,7 +2360,7 @@ switch(cf&fCollision::SVSmask)
const btScalar ms=ma+mb;
if(ms>0)
{
SContact c;
btSoftBody::SContact c;
c.m_normal = p/-btSqrt(d);
c.m_margin = m;
c.m_node = node;