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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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54
src/LinearMath/btConvexHull.cpp
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@@ -342,30 +342,30 @@ int shareedge(const int3 &a,const int3 &b)
return 0;
}
class Tri;
class btHullTriangle;
class Tri : public int3
class btHullTriangle : public int3
{
public:
int3 n;
int id;
int vmax;
btScalar rise;
Tri(int a,int b,int c):int3(a,b,c),n(-1,-1,-1)
btHullTriangle(int a,int b,int c):int3(a,b,c),n(-1,-1,-1)
{
vmax=-1;
rise = btScalar(0.0);
}
~Tri()
~btHullTriangle()
{
}
int &neib(int a,int b);
};
int &Tri::neib(int a,int b)
int &btHullTriangle::neib(int a,int b)
{
static int er=-1;
int i;
@@ -379,7 +379,7 @@ int &Tri::neib(int a,int b)
btAssert(0);
return er;
}
void HullLibrary::b2bfix(Tri* s,Tri*t)
void HullLibrary::b2bfix(btHullTriangle* s,btHullTriangle*t)
{
int i;
for(i=0;i<3;i++)
@@ -395,7 +395,7 @@ void HullLibrary::b2bfix(Tri* s,Tri*t)
}
}
void HullLibrary::removeb2b(Tri* s,Tri*t)
void HullLibrary::removeb2b(btHullTriangle* s,btHullTriangle*t)
{
b2bfix(s,t);
deAllocateTriangle(s);
@@ -403,7 +403,7 @@ void HullLibrary::removeb2b(Tri* s,Tri*t)
deAllocateTriangle(t);
}
void HullLibrary::checkit(Tri *t)
void HullLibrary::checkit(btHullTriangle *t)
{
(void)t;
@@ -427,36 +427,36 @@ void HullLibrary::checkit(Tri *t)
}
}
Tri* HullLibrary::allocateTriangle(int a,int b,int c)
btHullTriangle* HullLibrary::allocateTriangle(int a,int b,int c)
{
void* mem = btAlignedAlloc(sizeof(Tri),16);
Tri* tr = new (mem)Tri(a,b,c);
void* mem = btAlignedAlloc(sizeof(btHullTriangle),16);
btHullTriangle* tr = new (mem)btHullTriangle(a,b,c);
tr->id = m_tris.size();
m_tris.push_back(tr);
return tr;
}
void HullLibrary::deAllocateTriangle(Tri* tri)
void HullLibrary::deAllocateTriangle(btHullTriangle* tri)
{
btAssert(m_tris[tri->id]==tri);
m_tris[tri->id]=NULL;
tri->~Tri();
tri->~btHullTriangle();
btAlignedFree(tri);
}
void HullLibrary::extrude(Tri *t0,int v)
void HullLibrary::extrude(btHullTriangle *t0,int v)
{
int3 t= *t0;
int n = m_tris.size();
Tri* ta = allocateTriangle(v,t[1],t[2]);
btHullTriangle* ta = allocateTriangle(v,t[1],t[2]);
ta->n = int3(t0->n[0],n+1,n+2);
m_tris[t0->n[0]]->neib(t[1],t[2]) = n+0;
Tri* tb = allocateTriangle(v,t[2],t[0]);
btHullTriangle* tb = allocateTriangle(v,t[2],t[0]);
tb->n = int3(t0->n[1],n+2,n+0);
m_tris[t0->n[1]]->neib(t[2],t[0]) = n+1;
Tri* tc = allocateTriangle(v,t[0],t[1]);
btHullTriangle* tc = allocateTriangle(v,t[0],t[1]);
tc->n = int3(t0->n[2],n+0,n+1);
m_tris[t0->n[2]]->neib(t[0],t[1]) = n+2;
checkit(ta);
@@ -469,10 +469,10 @@ void HullLibrary::extrude(Tri *t0,int v)
}
Tri* HullLibrary::extrudable(btScalar epsilon)
btHullTriangle* HullLibrary::extrudable(btScalar epsilon)
{
int i;
Tri *t=NULL;
btHullTriangle *t=NULL;
for(i=0;i<m_tris.size();i++)
{
if(!t || (m_tris[i] && t->rise<m_tris[i]->rise))
@@ -550,23 +550,23 @@ int HullLibrary::calchullgen(btVector3 *verts,int verts_count, int vlimit)
btVector3 center = (verts[p[0]]+verts[p[1]]+verts[p[2]]+verts[p[3]]) / btScalar(4.0); // a valid interior point
Tri *t0 = allocateTriangle(p[2],p[3],p[1]); t0->n=int3(2,3,1);
Tri *t1 = allocateTriangle(p[3],p[2],p[0]); t1->n=int3(3,2,0);
Tri *t2 = allocateTriangle(p[0],p[1],p[3]); t2->n=int3(0,1,3);
Tri *t3 = allocateTriangle(p[1],p[0],p[2]); t3->n=int3(1,0,2);
btHullTriangle *t0 = allocateTriangle(p[2],p[3],p[1]); t0->n=int3(2,3,1);
btHullTriangle *t1 = allocateTriangle(p[3],p[2],p[0]); t1->n=int3(3,2,0);
btHullTriangle *t2 = allocateTriangle(p[0],p[1],p[3]); t2->n=int3(0,1,3);
btHullTriangle *t3 = allocateTriangle(p[1],p[0],p[2]); t3->n=int3(1,0,2);
isextreme[p[0]]=isextreme[p[1]]=isextreme[p[2]]=isextreme[p[3]]=1;
checkit(t0);checkit(t1);checkit(t2);checkit(t3);
for(j=0;j<m_tris.size();j++)
{
Tri *t=m_tris[j];
btHullTriangle *t=m_tris[j];
btAssert(t);
btAssert(t->vmax<0);
btVector3 n=TriNormal(verts[(*t)[0]],verts[(*t)[1]],verts[(*t)[2]]);
t->vmax = maxdirsterid(verts,verts_count,n,allow);
t->rise = dot(n,verts[t->vmax]-verts[(*t)[0]]);
}
Tri *te;
btHullTriangle *te;
vlimit-=4;
while(vlimit >0 && ((te=extrudable(epsilon)) != 0))
{
@@ -594,7 +594,7 @@ int HullLibrary::calchullgen(btVector3 *verts,int verts_count, int vlimit)
int3 nt=*m_tris[j];
if(above(verts,nt,center,btScalar(0.01)*epsilon) || cross(verts[nt[1]]-verts[nt[0]],verts[nt[2]]-verts[nt[1]]).length()< epsilon*epsilon*btScalar(0.1) )
{
Tri *nb = m_tris[m_tris[j]->n[0]];
btHullTriangle *nb = m_tris[m_tris[j]->n[0]];
btAssert(nb);btAssert(!hasvert(*nb,v));btAssert(nb->id<j);
extrude(nb,v);
j=m_tris.size();
@@ -603,7 +603,7 @@ int HullLibrary::calchullgen(btVector3 *verts,int verts_count, int vlimit)
j=m_tris.size();
while(j--)
{
Tri *t=m_tris[j];
btHullTriangle *t=m_tris[j];
if(!t) continue;
if(t->vmax>=0) break;
btVector3 n=TriNormal(verts[(*t)[0]],verts[(*t)[1]],verts[(*t)[2]]);