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fix spelling mistake: pertube -> perturbe

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This commit is contained in:
erwin.coumans
2009-02-03 01:00:55 +00:00
parent 0754876d77
commit daf350168d
4 changed files with 62 additions and 62 deletions
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56
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
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@@ -51,8 +51,8 @@ subject to the following restrictions:
btConvexConvexAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
{
m_numPertubationIterations = 3;
m_minimumPointsPertubationThreshold = 3;
m_numPerturbationIterations = 3;
m_minimumPointsPerturbationThreshold = 3;
m_simplexSolver = simplexSolver;
m_pdSolver = pdSolver;
}
@@ -61,7 +61,7 @@ btConvexConvexAlgorithm::CreateFunc::~CreateFunc()
{
}
btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPertubationIterations, int minimumPointsPertubationThreshold)
btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
: btActivatingCollisionAlgorithm(ci,body0,body1),
m_simplexSolver(simplexSolver),
m_pdSolver(pdSolver),
@@ -72,8 +72,8 @@ m_lowLevelOfDetail(false),
,m_sepDistance((static_cast<btConvexShape*>(body0->getCollisionShape()))->getAngularMotionDisc(),
(static_cast<btConvexShape*>(body1->getCollisionShape()))->getAngularMotionDisc()),
#endif
m_numPertubationIterations(numPertubationIterations),
m_minimumPointsPertubationThreshold(minimumPointsPertubationThreshold)
m_numPerturbationIterations(numPerturbationIterations),
m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
{
(void)body0;
(void)body1;
@@ -97,20 +97,20 @@ void btConvexConvexAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
}
struct btPertubedContactResult : public btManifoldResult
struct btPerturbedContactResult : public btManifoldResult
{
btManifoldResult* m_originalManifoldResult;
btTransform m_transformA;
btTransform m_transformB;
btPertubedContactResult(btManifoldResult* originalResult,const btTransform& transformA,const btTransform& transformB)
btPerturbedContactResult(btManifoldResult* originalResult,const btTransform& transformA,const btTransform& transformB)
:m_originalManifoldResult(originalResult),
m_transformA(transformA),
m_transformB(transformB)
{
}
virtual ~ btPertubedContactResult()
virtual ~ btPerturbedContactResult()
{
}
@@ -181,49 +181,49 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
btScalar sepDist = gjkPairDetector.getCachedSeparatingDistance()+dispatchInfo.m_convexConservativeDistanceThreshold;
//now pertube directions to get multiple contact points
//now perturbe directions to get multiple contact points
btVector3 v0,v1;
btVector3 sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
btPlaneSpace1(sepNormalWorldSpace,v0,v1);
//now perform 'm_numPertubationIterations' collision queries with the pertubated collision objects
//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
//perform pertubation when more then 'm_minimumPointsPertubationThreshold' points
if (resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPertubationThreshold)
//perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points
if (resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold)
{
int i;
bool pertubeA = true;
bool perturbeA = true;
const btScalar angleLimit = 0.125f * SIMD_PI;
btScalar pertubeAngle;
btScalar perturbeAngle;
btScalar radiusA = min0->getAngularMotionDisc();
btScalar radiusB = min1->getAngularMotionDisc();
if (radiusA < radiusB)
{
pertubeAngle = gContactBreakingThreshold /radiusA;
pertubeA = true;
perturbeAngle = gContactBreakingThreshold /radiusA;
perturbeA = true;
} else
{
pertubeAngle = gContactBreakingThreshold / radiusB;
pertubeA = false;
perturbeAngle = gContactBreakingThreshold / radiusB;
perturbeA = false;
}
if ( pertubeAngle > angleLimit )
pertubeAngle = angleLimit;
if ( perturbeAngle > angleLimit )
perturbeAngle = angleLimit;
for ( i=0;i<m_numPertubationIterations;i++)
for ( i=0;i<m_numPerturbationIterations;i++)
{
btQuaternion pertubeRot(v0,pertubeAngle);
btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPertubationIterations));
btQuaternion perturbeRot(v0,perturbeAngle);
btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
btQuaternion rotq(sepNormalWorldSpace,iterationAngle);
if (pertubeA)
if (perturbeA)
{
input.m_transformA.setBasis( btMatrix3x3(rotq.inverse()*pertubeRot*rotq)*body0->getWorldTransform().getBasis());
input.m_transformA.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0->getWorldTransform().getBasis());
} else
{
input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*pertubeRot*rotq)*body1->getWorldTransform().getBasis());
input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1->getWorldTransform().getBasis());
}
btPertubedContactResult pertubedResultOut(resultOut,input.m_transformA,input.m_transformB);
gjkPairDetector.getClosestPoints(input,pertubedResultOut,dispatchInfo.m_debugDraw);
btPerturbedContactResult perturbedResultOut(resultOut,input.m_transformA,input.m_transformB);
gjkPairDetector.getClosestPoints(input,perturbedResultOut,dispatchInfo.m_debugDraw);
btScalar curSepDist = gjkPairDetector.getCachedSeparatingDistance()+dispatchInfo.m_convexConservativeDistanceThreshold;
}
}