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some doxygen updates, added some comments to classes, fix broken links, rename some prefix some internal GIMPACT collision structures using (for example use GIM_AABB instead of BT_AAABB),

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removed obsolete btGjkEpa (it was replaced by btGjkEpa2 ages ago)
This commit is contained in:
erwin.coumans
2008-11-04 04:01:31 +00:00
parent 2b21eb5605
commit bcd0f48c28
83 changed files with 208 additions and 1089 deletions
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2
src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
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@@ -115,7 +115,7 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po
normal *= btScalar(-1.);
}
///todo: move this gContactBreakingThreshold into a proper structure
///@todo: move this gContactBreakingThreshold into a proper structure
extern btScalar gContactBreakingThreshold;
btScalar contactMargin = gContactBreakingThreshold;

2
src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h
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@@ -22,7 +22,7 @@ class btPoolAllocator;
///btCollisionConfiguration allows to configure Bullet collision detection
///stack allocator size, default collision algorithms and persistent manifold pool size
///todo: describe the meaning
///@todo: describe the meaning
class btCollisionConfiguration
{

4
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -380,7 +380,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
}
} else {
BT_PROFILE("rayTestCompound");
//todo: use AABB tree or other BVH acceleration structure!
///@todo: use AABB tree or other BVH acceleration structure, see btDbvt
if (collisionShape->isCompound())
{
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
@@ -577,7 +577,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
triangleMesh->processAllTriangles(&tccb,rayAabbMinLocal,rayAabbMaxLocal);
}
} else {
//todo: use AABB tree or other BVH acceleration structure!
///@todo : use AABB tree or other BVH acceleration structure!
if (collisionShape->isCompound())
{
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);

12
src/BulletCollision/CollisionDispatch/btCollisionWorld.h
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@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2006 Erwin Coumans http://bulletphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
@@ -22,21 +22,21 @@ subject to the following restrictions:
*
* Bullet is a Collision Detection and Rigid Body Dynamics Library. The Library is Open Source and free for commercial use, under the ZLib license ( http://opensource.org/licenses/zlib-license.php ).
*
* There is the Physics Forum for Feedback and bteral Collision Detection and Physics discussions.
* Please visit http://www.continuousphysics.com/Bullet/phpBB2/index.php
* There is the Physics Forum for feedback and general Collision Detection and Physics discussions.
* Please visit http://www.bulletphysics.com
*
* @section install_sec Installation
*
* @subsection step1 Step 1: Download
* You can download the Bullet Physics Library from our website: http://www.continuousphysics.com/Bullet/
* You can download the Bullet Physics Library from the Google Code repository: http://code.google.com/p/bullet/downloads/list
* @subsection step2 Step 2: Building
* Bullet comes with autogenerated Project Files for Microsoft Visual Studio 6, 7, 7.1 and 8.
* The main Workspace/Solution is located in Bullet/msvc/8/wksbullet.sln (replace 8 with your version).
*
* Under other platforms, like Linux or Mac OS-X, Bullet can be build using either using make, cmake, http://www.cmake.org, or jam, http://www.perforce.com/jam/jam.html . cmake can autogenerate Xcode, KDevelop, MSVC and other build systems. just run cmake . in the root of Bullet.
* Under other platforms, like Linux or Mac OS-X, Bullet can be build using either using make, cmake, http://www.cmake.org , or jam, http://www.perforce.com/jam/jam.html . cmake can autogenerate Xcode, KDevelop, MSVC and other build systems. just run cmake . in the root of Bullet.
* So if you are not using MSVC or cmake, you can run ./autogen.sh ./configure to create both Makefile and Jamfile and then run make or jam.
* Jam is a build system that can build the library, demos and also autogenerate the MSVC Project Files.
* If you don't have jam installed, you can make jam from the included jam-2.5 sources, or download jam from ftp://ftp.perforce.com/pub/jam/
* If you don't have jam installed, you can make jam from the included jam-2.5 sources, or download jam from ftp://ftp.perforce.com/jam
*
* @subsection step3 Step 3: Testing demos
* Try to run and experiment with BasicDemo executable as a starting point.

19
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
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@@ -38,7 +38,7 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
@@ -122,21 +122,6 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
{
#ifdef USE_BT_GJKEPA
btConvexShape* shape0(static_cast<btConvexShape*>(body0->getCollisionShape()));
btConvexShape* shape1(static_cast<btConvexShape*>(body1->getCollisionShape()));
const btScalar radialmargin(0/*shape0->getMargin()+shape1->getMargin()*/);
btGjkEpaSolver::sResults results;
if(btGjkEpaSolver::Collide( shape0,body0->getWorldTransform(),
shape1,body1->getWorldTransform(),
radialmargin,results))
{
dispatchInfo.m_debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0));
resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
}
#else
btGjkPairDetector::ClosestPointInput input;
@@ -154,7 +139,7 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
input.m_transformB = body1->getWorldTransform();
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
#endif
btScalar sepDist = gjkPairDetector.getCachedSeparatingDistance()+dispatchInfo.m_convexConservativeDistanceThreshold;

3
src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
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@@ -17,7 +17,6 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
#include "BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h"
@@ -101,12 +100,10 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
int maxSize = sizeof(btConvexConvexAlgorithm);
int maxSize2 = sizeof(btConvexConcaveCollisionAlgorithm);
int maxSize3 = sizeof(btCompoundCollisionAlgorithm);
int maxSize4 = sizeof(SpuContactManifoldCollisionAlgorithm);
int sl = sizeof(btConvexSeparatingDistanceUtil);
sl = sizeof(btGjkPairDetector);
int collisionAlgorithmMaxElementSize = btMax(maxSize,maxSize2);
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize3);
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize4);
if (constructionInfo.m_stackAlloc)
{

2
src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
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@@ -44,7 +44,7 @@ struct btDefaultCollisionConstructionInfo
///btCollisionConfiguration allows to configure Bullet collision detection
///stack allocator, pool memory allocators
///todo: describe the meaning
///@todo: describe the meaning
class btDefaultCollisionConfiguration : public btCollisionConfiguration
{

2
src/BulletCollision/CollisionDispatch/btGhostObject.h
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@@ -118,7 +118,7 @@ public:
///btGhostPairCache keeps track of overlapping objects that have AABB overlap with the ghost
///The btGhostPairCallback interfaces and forwards adding and removal of overlapping pairs from the btBroadphaseInterface to btGhostObject.
class btGhostPairCallback : public btOverlappingPairCallback
{

2
src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
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@@ -93,7 +93,7 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
newPt.m_index0 = m_index0;
newPt.m_index1 = m_index1;
///todo, check this for any side effects
///@todo, check this for any side effects
if (insertIndex >= 0)
{
//const btManifoldPoint& oldPoint = m_manifoldPtr->getContactPoint(insertIndex);

6
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
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@@ -262,7 +262,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
btCollisionObject* colObj0 = static_cast<btCollisionObject*>(manifold->getBody0());
btCollisionObject* colObj1 = static_cast<btCollisionObject*>(manifold->getBody1());
//todo: check sleeping conditions!
///@todo: check sleeping conditions!
if (((colObj0) && colObj0->getActivationState() != ISLAND_SLEEPING) ||
((colObj1) && colObj1->getActivationState() != ISLAND_SLEEPING))
{
@@ -287,9 +287,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
//
// todo: this is random access, it can be walked 'cache friendly'!
//
///@todo: this is random access, it can be walked 'cache friendly'!
void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback)
{

2
src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
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@@ -59,7 +59,7 @@ void btSphereTriangleCollisionAlgorithm::processCollision (btCollisionObject* co
SphereTriangleDetector detector(sphere,triangle);
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
input.m_maximumDistanceSquared = btScalar(1e30);//todo: tighter bounds
input.m_maximumDistanceSquared = btScalar(1e30);///@todo: tighter bounds
input.m_transformA = sphereObj->getWorldTransform();
input.m_transformB = triObj->getWorldTransform();