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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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4
src/BulletCollision/Gimpact/btBoxCollision.h
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@@ -26,9 +26,6 @@ subject to the following restrictions:
#include "LinearMath/btTransform.h"
/*! \defgroup BOUND_AABB_OPERATIONS
*/
//! @{
///Swap numbers
#define BT_SWAP_NUMBERS(a,b){ \
@@ -646,6 +643,5 @@ SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform & t1,const btT
}
//! @}
#endif // GIM_BOX_COLLISION_H_INCLUDED

4
src/BulletCollision/Gimpact/btClipPolygon.h
View File

@@ -27,9 +27,6 @@ subject to the following restrictions:
#include "LinearMath/btTransform.h"
#include "LinearMath/btGeometryUtil.h"
/*! \addtogroup GEOMETRIC_OPERATIONS
*/
//! @{
SIMD_FORCE_INLINE btScalar bt_distance_point_plane(const btVector4 & plane,const btVector3 &point)
{
@@ -181,6 +178,5 @@ SIMD_FORCE_INLINE int bt_plane_clip_triangle(
//! @}
#endif // GIM_TRI_COLLISION_H_INCLUDED

6
src/BulletCollision/Gimpact/btContactProcessing.cpp
View File

@@ -103,12 +103,12 @@ void btContactArray::merge_contacts(
push_back(contacts[keycontacts[0].m_value]);
BT_CONTACT * pcontact = &(*this)[0];
GIM_CONTACT * pcontact = &(*this)[0];
for( i=1;i<keycontacts.size();i++)
{
key = keycontacts[i].m_key;
const BT_CONTACT * scontact = &contacts[keycontacts[i].m_value];
const GIM_CONTACT * scontact = &contacts[keycontacts[i].m_value];
if(last_key == key)//same points
{
@@ -158,7 +158,7 @@ void btContactArray::merge_contacts_unique(const btContactArray & contacts)
return;
}
BT_CONTACT average_contact = contacts[0];
GIM_CONTACT average_contact = contacts[0];
for (int i=1;i<contacts.size() ;i++ )
{

24
src/BulletCollision/Gimpact/btContactProcessing.h
View File

@@ -29,11 +29,6 @@ subject to the following restrictions:
#include "btTriangleShapeEx.h"
/*! \defgroup CONTACTS
\brief
Functions for managing and sorting contacts resulting from a collision query.
*/
//! @{
/**
Configuration var for applying interpolation of contact normals
@@ -42,8 +37,9 @@ Configuration var for applying interpolation of contact normals
#define CONTACT_DIFF_EPSILON 0.00001f
/// Structure for collision results
class BT_CONTACT
///The GIM_CONTACT is an internal GIMPACT structure, similar to btManifoldPoint.
///@todo: remove and replace GIM_CONTACT by btManifoldPoint.
class GIM_CONTACT
{
public:
btVector3 m_point;
@@ -53,11 +49,11 @@ public:
int m_feature1;//Face number
int m_feature2;//Face number
public:
BT_CONTACT()
GIM_CONTACT()
{
}
BT_CONTACT(const BT_CONTACT & contact):
GIM_CONTACT(const GIM_CONTACT & contact):
m_point(contact.m_point),
m_normal(contact.m_normal),
m_depth(contact.m_depth),
@@ -66,7 +62,7 @@ public:
{
}
BT_CONTACT(const btVector3 &point,const btVector3 & normal,
GIM_CONTACT(const btVector3 &point,const btVector3 & normal,
btScalar depth, int feature1, int feature2):
m_point(point),
m_normal(normal),
@@ -112,7 +108,7 @@ public:
};
class btContactArray:public btAlignedObjectArray<BT_CONTACT>
class btContactArray:public btAlignedObjectArray<GIM_CONTACT>
{
public:
btContactArray()
@@ -124,11 +120,11 @@ public:
const btVector3 &point,const btVector3 & normal,
btScalar depth, int feature1, int feature2)
{
push_back( BT_CONTACT(point,normal,depth,feature1,feature2) );
push_back( GIM_CONTACT(point,normal,depth,feature1,feature2) );
}
SIMD_FORCE_INLINE void push_triangle_contacts(
const BT_TRIANGLE_CONTACT & tricontact,
const GIM_TRIANGLE_CONTACT & tricontact,
int feature1,int feature2)
{
for(int i = 0;i<tricontact.m_point_count ;i++ )
@@ -145,5 +141,5 @@ public:
void merge_contacts_unique(const btContactArray & contacts);
};
//! @}
#endif // GIM_CONTACT_H_INCLUDED

12
src/BulletCollision/Gimpact/btGImpactBvh.cpp
View File

@@ -65,7 +65,7 @@ float btGImpactBvh::getAverageTreeCollisionTime()
/////////////////////// btBvhTree /////////////////////////////////
int btBvhTree::_calc_splitting_axis(
BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex)
GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex)
{
int i;
@@ -97,7 +97,7 @@ int btBvhTree::_calc_splitting_axis(
int btBvhTree::_sort_and_calc_splitting_index(
BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,
GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,
int endIndex, int splitAxis)
{
int i;
@@ -158,7 +158,7 @@ int btBvhTree::_sort_and_calc_splitting_index(
}
void btBvhTree::_build_sub_tree(BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex)
void btBvhTree::_build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex)
{
int curIndex = m_num_nodes;
m_num_nodes++;
@@ -211,7 +211,7 @@ void btBvhTree::_build_sub_tree(BT_BVH_DATA_ARRAY & primitive_boxes, int startIn
//! stackless build tree
void btBvhTree::build_tree(
BT_BVH_DATA_ARRAY & primitive_boxes)
GIM_BVH_DATA_ARRAY & primitive_boxes)
{
// initialize node count to 0
m_num_nodes = 0;
@@ -236,7 +236,7 @@ void btGImpactBvh::refit()
}
else
{
//const BT_BVH_TREE_NODE * nodepointer = get_node_pointer(nodecount);
//const GIM_BVH_TREE_NODE * nodepointer = get_node_pointer(nodecount);
//get left bound
btAABB bound;
bound.invalidate();
@@ -266,7 +266,7 @@ void btGImpactBvh::refit()
void btGImpactBvh::buildSet()
{
//obtain primitive boxes
BT_BVH_DATA_ARRAY primitive_boxes;
GIM_BVH_DATA_ARRAY primitive_boxes;
primitive_boxes.resize(m_primitive_manager->get_primitive_count());
for (int i = 0;i<primitive_boxes.size() ;i++ )

47
src/BulletCollision/Gimpact/btGImpactBvh.h
View File

@@ -32,29 +32,23 @@ subject to the following restrictions:
/*! \defgroup BOX_TREES
*/
//! @{
//! Overlapping pair
struct BT_PAIR
struct GIM_PAIR
{
int m_index1;
int m_index2;
BT_PAIR()
GIM_PAIR()
{}
BT_PAIR(const BT_PAIR & p)
GIM_PAIR(const GIM_PAIR & p)
{
m_index1 = p.m_index1;
m_index2 = p.m_index2;
}
BT_PAIR(int index1, int index2)
GIM_PAIR(int index1, int index2)
{
m_index1 = index1;
m_index2 = index2;
@@ -62,7 +56,7 @@ struct BT_PAIR
};
//! A pairset array
class btPairSet: public btAlignedObjectArray<BT_PAIR>
class btPairSet: public btAlignedObjectArray<GIM_PAIR>
{
public:
btPairSet()
@@ -71,32 +65,32 @@ public:
}
inline void push_pair(int index1,int index2)
{
push_back(BT_PAIR(index1,index2));
push_back(GIM_PAIR(index1,index2));
}
inline void push_pair_inv(int index1,int index2)
{
push_back(BT_PAIR(index2,index1));
push_back(GIM_PAIR(index2,index1));
}
};
struct BT_BVH_DATA
///GIM_BVH_DATA is an internal GIMPACT collision structure to contain axis aligned bounding box
struct GIM_BVH_DATA
{
btAABB m_bound;
int m_data;
};
//! Node Structure for trees
class BT_BVH_TREE_NODE
class GIM_BVH_TREE_NODE
{
public:
btAABB m_bound;
protected:
int m_escapeIndexOrDataIndex;
public:
BT_BVH_TREE_NODE()
GIM_BVH_TREE_NODE()
{
m_escapeIndexOrDataIndex = 0;
}
@@ -133,12 +127,12 @@ public:
};
class BT_BVH_DATA_ARRAY:public btAlignedObjectArray<BT_BVH_DATA>
class GIM_BVH_DATA_ARRAY:public btAlignedObjectArray<GIM_BVH_DATA>
{
};
class BT_BVH_TREE_NODE_ARRAY:public btAlignedObjectArray<BT_BVH_TREE_NODE>
class GIM_BVH_TREE_NODE_ARRAY:public btAlignedObjectArray<GIM_BVH_TREE_NODE>
{
};
@@ -150,15 +144,15 @@ class btBvhTree
{
protected:
int m_num_nodes;
BT_BVH_TREE_NODE_ARRAY m_node_array;
GIM_BVH_TREE_NODE_ARRAY m_node_array;
protected:
int _sort_and_calc_splitting_index(
BT_BVH_DATA_ARRAY & primitive_boxes,
GIM_BVH_DATA_ARRAY & primitive_boxes,
int startIndex, int endIndex, int splitAxis);
int _calc_splitting_axis(BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex);
int _calc_splitting_axis(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex);
void _build_sub_tree(BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex);
void _build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex);
public:
btBvhTree()
{
@@ -167,7 +161,7 @@ public:
//! prototype functions for box tree management
//!@{
void build_tree(BT_BVH_DATA_ARRAY & primitive_boxes);
void build_tree(GIM_BVH_DATA_ARRAY & primitive_boxes);
SIMD_FORCE_INLINE void clearNodes()
{
@@ -218,7 +212,7 @@ public:
return m_node_array[nodeindex].getEscapeIndex();
}
SIMD_FORCE_INLINE const BT_BVH_TREE_NODE * get_node_pointer(int index = 0) const
SIMD_FORCE_INLINE const GIM_BVH_TREE_NODE * get_node_pointer(int index = 0) const
{
return &m_node_array[index];
}
@@ -382,12 +376,11 @@ public:
}
SIMD_FORCE_INLINE const BT_BVH_TREE_NODE * get_node_pointer(int index = 0) const
SIMD_FORCE_INLINE const GIM_BVH_TREE_NODE * get_node_pointer(int index = 0) const
{
return m_box_tree.get_node_pointer(index);
}
//! @}
static float getAverageTreeCollisionTime();

4
src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp
View File

@@ -404,7 +404,7 @@ void btGImpactCollisionAlgorithm::collide_sat_triangles(btCollisionObject * body
btPrimitiveTriangle ptri0;
btPrimitiveTriangle ptri1;
BT_TRIANGLE_CONTACT contact_data;
GIM_TRIANGLE_CONTACT contact_data;
shape0->lockChildShapes();
shape1->lockChildShapes();
@@ -540,7 +540,7 @@ void btGImpactCollisionAlgorithm::gimpact_vs_gimpact(
int i = pairset.size();
while(i--)
{
BT_PAIR * pair = &pairset[i];
GIM_PAIR * pair = &pairset[i];
m_triface0 = pair->m_index1;
m_triface1 = pair->m_index2;
btCollisionShape * colshape0 = retriever0.getChildShape(m_triface0);

14
src/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp
View File

@@ -67,7 +67,7 @@ float btGImpactQuantizedBvh::getAverageTreeCollisionTime()
/////////////////////// btQuantizedBvhTree /////////////////////////////////
void btQuantizedBvhTree::calc_quantization(
BT_BVH_DATA_ARRAY & primitive_boxes, btScalar boundMargin)
GIM_BVH_DATA_ARRAY & primitive_boxes, btScalar boundMargin)
{
//calc globa box
btAABB global_bound;
@@ -86,7 +86,7 @@ void btQuantizedBvhTree::calc_quantization(
int btQuantizedBvhTree::_calc_splitting_axis(
BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex)
GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex)
{
int i;
@@ -118,7 +118,7 @@ int btQuantizedBvhTree::_calc_splitting_axis(
int btQuantizedBvhTree::_sort_and_calc_splitting_index(
BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,
GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,
int endIndex, int splitAxis)
{
int i;
@@ -179,7 +179,7 @@ int btQuantizedBvhTree::_sort_and_calc_splitting_index(
}
void btQuantizedBvhTree::_build_sub_tree(BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex)
void btQuantizedBvhTree::_build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex)
{
int curIndex = m_num_nodes;
m_num_nodes++;
@@ -232,7 +232,7 @@ void btQuantizedBvhTree::_build_sub_tree(BT_BVH_DATA_ARRAY & primitive_boxes, in
//! stackless build tree
void btQuantizedBvhTree::build_tree(
BT_BVH_DATA_ARRAY & primitive_boxes)
GIM_BVH_DATA_ARRAY & primitive_boxes)
{
calc_quantization(primitive_boxes);
// initialize node count to 0
@@ -258,7 +258,7 @@ void btGImpactQuantizedBvh::refit()
}
else
{
//const BT_BVH_TREE_NODE * nodepointer = get_node_pointer(nodecount);
//const GIM_BVH_TREE_NODE * nodepointer = get_node_pointer(nodecount);
//get left bound
btAABB bound;
bound.invalidate();
@@ -288,7 +288,7 @@ void btGImpactQuantizedBvh::refit()
void btGImpactQuantizedBvh::buildSet()
{
//obtain primitive boxes
BT_BVH_DATA_ARRAY primitive_boxes;
GIM_BVH_DATA_ARRAY primitive_boxes;
primitive_boxes.resize(m_primitive_manager->get_primitive_count());
for (int i = 0;i<primitive_boxes.size() ;i++ )

21
src/BulletCollision/Gimpact/btGImpactQuantizedBvh.h
View File

@@ -29,12 +29,6 @@ subject to the following restrictions:
/*! \defgroup BOX_TREES
*/
//! @{
///btQuantizedBvhNode is a compressed aabb node, 16 bytes.
@@ -100,7 +94,7 @@ ATTRIBUTE_ALIGNED16 (struct) BT_QUANTIZED_BVH_NODE
class BT_QUANTIZED_BVH_NODE_ARRAY:public btAlignedObjectArray<BT_QUANTIZED_BVH_NODE>
class GIM_QUANTIZED_BVH_NODE_ARRAY:public btAlignedObjectArray<BT_QUANTIZED_BVH_NODE>
{
};
@@ -112,19 +106,19 @@ class btQuantizedBvhTree
{
protected:
int m_num_nodes;
BT_QUANTIZED_BVH_NODE_ARRAY m_node_array;
GIM_QUANTIZED_BVH_NODE_ARRAY m_node_array;
btAABB m_global_bound;
btVector3 m_bvhQuantization;
protected:
void calc_quantization(BT_BVH_DATA_ARRAY & primitive_boxes, btScalar boundMargin = btScalar(1.0) );
void calc_quantization(GIM_BVH_DATA_ARRAY & primitive_boxes, btScalar boundMargin = btScalar(1.0) );
int _sort_and_calc_splitting_index(
BT_BVH_DATA_ARRAY & primitive_boxes,
GIM_BVH_DATA_ARRAY & primitive_boxes,
int startIndex, int endIndex, int splitAxis);
int _calc_splitting_axis(BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex);
int _calc_splitting_axis(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex);
void _build_sub_tree(BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex);
void _build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex);
public:
btQuantizedBvhTree()
{
@@ -133,7 +127,7 @@ public:
//! prototype functions for box tree management
//!@{
void build_tree(BT_BVH_DATA_ARRAY & primitive_boxes);
void build_tree(GIM_BVH_DATA_ARRAY & primitive_boxes);
SIMD_FORCE_INLINE void quantizePoint(
unsigned short * quantizedpoint, const btVector3 & point) const
@@ -365,7 +359,6 @@ public:
return m_box_tree.get_node_pointer(index);
}
//! @}
static float getAverageTreeCollisionTime();

6
src/BulletCollision/Gimpact/btGenericPoolAllocator.cpp
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@@ -251,16 +251,16 @@ bool btGenericPoolAllocator::freeMemory(void * pointer)
#define BT_DEFAULT_POOL_ELEMENT_SIZE 8
// main allocator
class BT_STANDARD_ALLOCATOR: public btGenericPoolAllocator
class GIM_STANDARD_ALLOCATOR: public btGenericPoolAllocator
{
public:
BT_STANDARD_ALLOCATOR():btGenericPoolAllocator(BT_DEFAULT_POOL_ELEMENT_SIZE,BT_DEFAULT_POOL_SIZE)
GIM_STANDARD_ALLOCATOR():btGenericPoolAllocator(BT_DEFAULT_POOL_ELEMENT_SIZE,BT_DEFAULT_POOL_SIZE)
{
}
};
// global allocator
BT_STANDARD_ALLOCATOR g_main_allocator;
GIM_STANDARD_ALLOCATOR g_main_allocator;
void * btPoolAlloc(size_t size)

5
src/BulletCollision/Gimpact/btGenericPoolAllocator.h
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@@ -155,14 +155,9 @@ public:
/*! \defgroup POOL_MEMORY_FUNCTIONS
standar managed Memory functions. Memory pools are used.
*/
//! @{
void * btPoolAlloc(size_t size);
void * btPoolRealloc(void *ptr, size_t oldsize, size_t newsize);
void btPoolFree(void *ptr);
//! @}
#endif

4
src/BulletCollision/Gimpact/btGeometryOperations.h
View File

@@ -29,9 +29,6 @@ subject to the following restrictions:
/*! \defgroup GEOMETRIC_OPERATIONS
*/
//! @{
#define PLANEDIREPSILON 0.0000001f
@@ -210,7 +207,6 @@ SIMD_FORCE_INLINE void bt_segment_collision(
//! @}
#endif // GIM_VECTOR_H_INCLUDED

4
src/BulletCollision/Gimpact/btQuantization.h
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@@ -29,9 +29,6 @@ subject to the following restrictions:
/*! \defgroup GEOMETRIC_OPERATIONS
*/
//! @{
@@ -86,7 +83,6 @@ SIMD_FORCE_INLINE btVector3 bt_unquantize(
return vecOut;
}
//! @}
#endif // GIM_VECTOR_H_INCLUDED

8
src/BulletCollision/Gimpact/btTriangleShapeEx.cpp
View File

@@ -25,7 +25,7 @@ subject to the following restrictions:
void BT_TRIANGLE_CONTACT::merge_points(const btVector4 & plane,
void GIM_TRIANGLE_CONTACT::merge_points(const btVector4 & plane,
btScalar margin, const btVector3 * points, int point_count)
{
m_point_count = 0;
@@ -123,7 +123,7 @@ int btPrimitiveTriangle::clip_triangle(btPrimitiveTriangle & other, btVector3 *
return clipped_count;
}
bool btPrimitiveTriangle::find_triangle_collision_clip_method(btPrimitiveTriangle & other, BT_TRIANGLE_CONTACT & contacts)
bool btPrimitiveTriangle::find_triangle_collision_clip_method(btPrimitiveTriangle & other, GIM_TRIANGLE_CONTACT & contacts)
{
btScalar margin = m_margin + other.m_margin;
@@ -132,7 +132,7 @@ bool btPrimitiveTriangle::find_triangle_collision_clip_method(btPrimitiveTriangl
//create planes
// plane v vs U points
BT_TRIANGLE_CONTACT contacts1;
GIM_TRIANGLE_CONTACT contacts1;
contacts1.m_separating_normal = m_plane;
@@ -152,7 +152,7 @@ bool btPrimitiveTriangle::find_triangle_collision_clip_method(btPrimitiveTriangl
//Clip tri1 by tri2 edges
BT_TRIANGLE_CONTACT contacts2;
GIM_TRIANGLE_CONTACT contacts2;
contacts2.m_separating_normal = other.m_plane;
clipped_count = other.clip_triangle(*this,clipped_points);

10
src/BulletCollision/Gimpact/btTriangleShapeEx.h
View File

@@ -35,14 +35,14 @@ subject to the following restrictions:
#define MAX_TRI_CLIPPING 16
//! Structure for collision
struct BT_TRIANGLE_CONTACT
struct GIM_TRIANGLE_CONTACT
{
btScalar m_penetration_depth;
int m_point_count;
btVector4 m_separating_normal;
btVector3 m_points[MAX_TRI_CLIPPING];
SIMD_FORCE_INLINE void copy_from(const BT_TRIANGLE_CONTACT& other)
SIMD_FORCE_INLINE void copy_from(const GIM_TRIANGLE_CONTACT& other)
{
m_penetration_depth = other.m_penetration_depth;
m_separating_normal = other.m_separating_normal;
@@ -54,11 +54,11 @@ struct BT_TRIANGLE_CONTACT
}
}
BT_TRIANGLE_CONTACT()
GIM_TRIANGLE_CONTACT()
{
}
BT_TRIANGLE_CONTACT(const BT_TRIANGLE_CONTACT& other)
GIM_TRIANGLE_CONTACT(const GIM_TRIANGLE_CONTACT& other)
{
copy_from(other);
}
@@ -123,7 +123,7 @@ public:
/*!
\pre this triangle and other must have their triangles calculated
*/
bool find_triangle_collision_clip_method(btPrimitiveTriangle & other, BT_TRIANGLE_CONTACT & contacts);
bool find_triangle_collision_clip_method(btPrimitiveTriangle & other, GIM_TRIANGLE_CONTACT & contacts);
};

8
src/BulletCollision/Gimpact/gim_array.h
View File

@@ -34,11 +34,6 @@ email: projectileman@yahoo.com
#include "gim_memory.h"
/*! \addtogroup CONTAINERS
\brief
Abstract class for template containers
*/
//! @{
#define GIM_ARRAY_GROW_INCREMENT 2
#define GIM_ARRAY_GROW_FACTOR 2
@@ -321,11 +316,10 @@ public:
{
resizeData(m_size);
}
//!@}
};
//! @}

4
src/BulletCollision/Gimpact/gim_basic_geometry_operations.h
View File

@@ -40,9 +40,6 @@ email: projectileman@yahoo.com
/*! \defgroup GEOMETRIC_OPERATIONS
*/
//! @{
#define PLANEDIREPSILON 0.0000001f
@@ -541,7 +538,6 @@ SIMD_FORCE_INLINE void SORT_3_INDICES(
//! @}
#endif // GIM_VECTOR_H_INCLUDED

6
src/BulletCollision/Gimpact/gim_bitset.h
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@@ -34,11 +34,6 @@ email: projectileman@yahoo.com
#include "gim_array.h"
/*! \addtogroup CONTAINERS
\brief
Abstract class for template containers
*/
//! @{
#define GUINT_BIT_COUNT 32
#define GUINT_EXPONENT 5
@@ -122,7 +117,6 @@ public:
};
//! @}

4
src/BulletCollision/Gimpact/gim_box_collision.h
View File

@@ -35,9 +35,6 @@ email: projectileman@yahoo.com
#include "gim_basic_geometry_operations.h"
#include "LinearMath/btTransform.h"
/*! \defgroup BOUND_AABB_OPERATIONS
*/
//! @{
//SIMD_FORCE_INLINE bool test_cross_edge_box(
@@ -589,6 +586,5 @@ SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform & t1,const btT
}
//! @}
#endif // GIM_BOX_COLLISION_H_INCLUDED

7
src/BulletCollision/Gimpact/gim_box_set.h
View File

@@ -40,12 +40,6 @@ email: projectileman@yahoo.com
#include "gim_tri_collision.h"
/*! \defgroup BOX_PRUNNING
*/
//! @{
//! Overlapping pair
struct GIM_PAIR
@@ -446,7 +440,6 @@ public:
m_primitive_manager.get_primitive_triangle(getNodeData(nodeindex),triangle);
}
//! @}
};
//! Class for Box Tree Sets

4
src/BulletCollision/Gimpact/gim_clip_polygon.h
View File

@@ -33,9 +33,6 @@ email: projectileman@yahoo.com
-----------------------------------------------------------------------------
*/
/*! \addtogroup GEOMETRIC_OPERATIONS
*/
//! @{
//! This function calcs the distance from a 3D plane
class DISTANCE_PLANE_3D_FUNC
@@ -209,6 +206,5 @@ SIMD_FORCE_INLINE GUINT PLANE_CLIP_TRIANGLE3D(
}
//! @}
#endif // GIM_TRI_COLLISION_H_INCLUDED

16
src/BulletCollision/Gimpact/gim_contact.h
View File

@@ -36,17 +36,6 @@ email: projectileman@yahoo.com
#include "gim_radixsort.h"
#include "gim_array.h"
/*! \defgroup CONTACTS
\brief
Functions for managing and sorting contacts resulting from a collision query.
<ul>
<li> Contact lists must be create by calling \ref GIM_CREATE_CONTACT_LIST
<li> After querys, contact lists must be destroy by calling \ref GIM_DYNARRAY_DESTROY
<li> Contacts can be merge for avoid duplicate results by calling \ref gim_merge_contacts
</ul>
*/
//! @{
/**
Configuration var for applying interpolation of contact normals
@@ -55,6 +44,10 @@ Configuration var for applying interpolation of contact normals
#define CONTACT_DIFF_EPSILON 0.00001f
/// Structure for collision results
///Functions for managing and sorting contacts resulting from a collision query.
///Contact lists must be create by calling \ref GIM_CREATE_CONTACT_LIST
///After querys, contact lists must be destroy by calling \ref GIM_DYNARRAY_DESTROY
///Contacts can be merge for avoid duplicate results by calling \ref gim_merge_contacts
class GIM_CONTACT
{
public:
@@ -168,5 +161,4 @@ public:
void merge_contacts_unique(const gim_contact_array & contacts);
};
//! @}
#endif // GIM_CONTACT_H_INCLUDED

7
src/BulletCollision/Gimpact/gim_geom_types.h
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@@ -36,11 +36,7 @@ email: projectileman@yahoo.com
#include "gim_math.h"
/*! \defgroup GEOMETRIC_TYPES
\brief
Basic types and constants for geometry
*/
//! @{
//! Short Integer vector 2D
typedef GSHORT vec2s[2];
@@ -95,7 +91,6 @@ typedef GREAL mat4f[4][4];
typedef GREAL quatf[4];
//typedef struct _aabb3f aabb3f;
//! @}

26
src/BulletCollision/Gimpact/gim_hash_table.h
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@@ -34,11 +34,6 @@ email: projectileman@yahoo.com
#include "gim_radixsort.h"
/*! \addtogroup CONTAINERS
\brief
Abstract class for collision objects
*/
//! @{
#define GIM_INVALID_HASH 0xffffffff //!< A very very high value
#define GIM_DEFAULT_HASH_TABLE_SIZE 380
@@ -204,12 +199,7 @@ protected:
//SuperBufferedArray< _node_type > m_nodes;
bool m_sorted;
/*! \defgroup HASH_TABLE_STRUCTURES
\brief
Hash table data management. The hash table has the indices to the corresponding m_nodes array
*/
//! @{
///Hash table data management. The hash table has the indices to the corresponding m_nodes array
GUINT * m_hash_table;//!<
GUINT m_table_size;//!<
GUINT m_node_size;//!<
@@ -459,13 +449,8 @@ protected:
}
//! @}
/*! \defgroup SORTED_ARRAY_STRUCTURES
\brief
Sorted array data management. The hash table has the indices to the corresponding m_nodes array
*/
//! @{
///Sorted array data management. The hash table has the indices to the corresponding m_nodes array
inline bool _erase_sorted(GUINT index)
{
if(index>=(GUINT)m_nodes.size()) return false;
@@ -575,8 +560,7 @@ protected:
return GIM_INVALID_HASH;
}
//! @}
public:
@@ -913,8 +897,6 @@ public:
};
//! @}
#endif // GIM_CONTAINERS_H_INCLUDED

11
src/BulletCollision/Gimpact/gim_linear_math.h
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@@ -40,11 +40,6 @@ email: projectileman@yahoo.com
/*! \defgroup VECTOR_OPERATIONS
T
Operations for vectors : vec2f,vec3f and vec4f
*/
//! @{
//! Zero out a 2D vector
#define VEC_ZERO_2(a) \
@@ -446,13 +441,8 @@ Takes two vectors a, b, blends them together with s <=1 */
//! @}
/*! \defgroup MATRIX_OPERATIONS
Operations for matrices : mat2f, mat3f and mat4f
*/
//! @{
/// initialize matrix
#define IDENTIFY_MATRIX_3X3(m) \
@@ -1579,6 +1569,5 @@ and m is a mat4f<br>
}\
//! @}
#endif // GIM_VECTOR_H_INCLUDED

30
src/BulletCollision/Gimpact/gim_math.h
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@@ -35,13 +35,6 @@ email: projectileman@yahoo.com
#include "LinearMath/btScalar.h"
/*! \defgroup BASIC_TYPES
Basic types and constants
Conventions:
Types starting with G
Constants starting with G_
*/
//! @{
#define GREAL btScalar
#define GREAL2 double
@@ -52,15 +45,7 @@ Constants starting with G_
#define GINT64 long long
#define GUINT64 unsigned long long
//! @}
/*! \defgroup BASIC_CONSTANTS
Basic constants
Conventions:
Types starting with G
Constants starting with G_
*/
//! @{
#define G_PI 3.14159265358979f
#define G_HALF_PI 1.5707963f
@@ -73,14 +58,9 @@ Constants starting with G_
#define G_REAL_INFINITY FLT_MAX
#define G_SIGN_BITMASK 0x80000000
#define G_EPSILON SIMD_EPSILON
//! @}
/*! \defgroup SCALAR_TYPES
\brief
Precision type constants
*/
//! @{
enum GIM_SCALAR_TYPES
{
G_STYPE_REAL =0,
@@ -92,12 +72,8 @@ enum GIM_SCALAR_TYPES
G_STYPE_INT64,
G_STYPE_UINT64
};
//! @}
/*! \defgroup MATH_FUNCTIONS
mathematical functions
*/
//! @{
#define G_DEGTORAD(X) ((X)*3.1415926f/180.0f)
#define G_RADTODEG(X) ((X)*180.0f/3.1415926f)
@@ -176,6 +152,6 @@ inline GREAL gim_sqrt(GREAL f)
return r;
}
//! @}
#endif // GIM_MATH_H_INCLUDED

45
src/BulletCollision/Gimpact/gim_memory.h
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@@ -36,9 +36,6 @@ email: projectileman@yahoo.com
#include "gim_math.h"
#include <memory.h>
//#define PREFETCH 1
//! \defgroup PREFETCH
//! @{
#ifdef PREFETCH
#include <xmmintrin.h> // for prefetch
#define pfval 64
@@ -53,13 +50,9 @@ email: projectileman@yahoo.com
//! Prefetch 128
#define pf2(_x,_i)
#endif
//! @}
/*! \defgroup ARRAY_UTILITIES
\brief
Functions for manip packed arrays of numbers
*/
//! @{
///Functions for manip packed arrays of numbers
#define GIM_COPY_ARRAYS(dest_array,source_array,element_count)\
{\
for (GUINT _i_=0;_i_<element_count ;++_i_)\
@@ -92,50 +85,36 @@ Functions for manip packed arrays of numbers
array[_i_] = constant;\
}\
}\
//! @}
/*! \defgroup MEMORY_FUNCTION_PROTOTYPES
Function prototypes to allocate and free memory.
*/
//! @{
///Function prototypes to allocate and free memory.
typedef void * gim_alloc_function (size_t size);
typedef void * gim_alloca_function (size_t size);//Allocs on the heap
typedef void * gim_realloc_function (void *ptr, size_t oldsize, size_t newsize);
typedef void gim_free_function (void *ptr);
//! @}
/*! \defgroup MEMORY_FUNCTION_HANDLERS
\brief
Memory Function Handlers
set new memory management functions. if fn is 0, the default handlers are
used. */
//! @{
///Memory Function Handlers
///set new memory management functions. if fn is 0, the default handlers are used.
void gim_set_alloc_handler (gim_alloc_function *fn);
void gim_set_alloca_handler (gim_alloca_function *fn);
void gim_set_realloc_handler (gim_realloc_function *fn);
void gim_set_free_handler (gim_free_function *fn);
//! @}
/*! \defgroup MEMORY_FUNCTION_GET_HANDLERS
\brief
get current memory management functions.
*/
//! @{
///get current memory management functions.
gim_alloc_function *gim_get_alloc_handler (void);
gim_alloca_function *gim_get_alloca_handler(void);
gim_realloc_function *gim_get_realloc_handler (void);
gim_free_function *gim_get_free_handler (void);
//! @}
/*! \defgroup MEMORY_FUNCTIONS
Standar Memory functions
*/
//! @{
///Standar Memory functions
void * gim_alloc(size_t size);
void * gim_alloca(size_t size);
void * gim_realloc(void *ptr, size_t oldsize, size_t newsize);
void gim_free(void *ptr);
//! @}
#if defined (WIN32) && !defined(__MINGW32__) && !defined(__CYGWIN__)

8
src/BulletCollision/Gimpact/gim_radixsort.h
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@@ -36,11 +36,7 @@ email: projectileman@yahoo.com
#include "gim_memory.h"
/*! \defgroup SORTING
\brief
Macros for sorting.
*/
///Macros for sorting.
//! Prototype for comparators
class less_comparator
{
@@ -406,5 +402,5 @@ void gim_heap_sort(T *pArr, GUINT element_count, COMP_CLASS CompareFunc)
//! @}
#endif // GIM_RADIXSORT_H_INCLUDED

6
src/BulletCollision/Gimpact/gim_tri_collision.cpp
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@@ -38,7 +38,7 @@ email: projectileman@yahoo.com
#define MIN_EDGE_EDGE_DIS 0.00001f
class _GIM_TRIANGLE_CALCULATION_CACHE
class GIM_TRIANGLE_CALCULATION_CACHE
{
public:
GREAL margin;
@@ -489,7 +489,7 @@ public:
};
/*class _GIM_TRIANGLE_CALCULATION_CACHE
/*class GIM_TRIANGLE_CALCULATION_CACHE
{
public:
GREAL margin;
@@ -627,7 +627,7 @@ bool GIM_TRIANGLE::collide_triangle_hard_test(
const GIM_TRIANGLE & other,
GIM_TRIANGLE_CONTACT_DATA & contact_data) const
{
_GIM_TRIANGLE_CALCULATION_CACHE calc_cache;
GIM_TRIANGLE_CALCULATION_CACHE calc_cache;
return calc_cache.triangle_collision(
m_vertices[0],m_vertices[1],m_vertices[2],m_margin,
other.m_vertices[0],other.m_vertices[1],other.m_vertices[2],other.m_margin,

4
src/BulletCollision/Gimpact/gim_tri_collision.h
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@@ -36,9 +36,6 @@ email: projectileman@yahoo.com
#include "gim_box_collision.h"
#include "gim_clip_polygon.h"
/*! \addtogroup GEOMETRIC_OPERATIONS
*/
//! @{
@@ -378,6 +375,5 @@ if 0.0<= u+v <=1.0 then they are inside of triangle
//! @}
#endif // GIM_TRI_COLLISION_H_INCLUDED