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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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34
src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
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@@ -22,13 +22,13 @@ subject to the following restrictions:
//#include <stdio.h>
btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped, int numPertubationIterations,int minimumPointsPertubationThreshold)
btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold)
: btCollisionAlgorithm(ci),
m_ownManifold(false),
m_manifoldPtr(mf),
m_isSwapped(isSwapped),
m_numPertubationIterations(numPertubationIterations),
m_minimumPointsPertubationThreshold(minimumPointsPertubationThreshold)
m_numPerturbationIterations(numPerturbationIterations),
m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
{
btCollisionObject* convexObj = m_isSwapped? col1 : col0;
btCollisionObject* planeObj = m_isSwapped? col0 : col1;
@@ -50,7 +50,7 @@ btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm()
}
}
void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion& pertubeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion& perturbeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btCollisionObject* convexObj = m_isSwapped? body1 : body0;
btCollisionObject* planeObj = m_isSwapped? body0: body1;
@@ -65,8 +65,8 @@ void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion&
btTransform convexWorldTransform = convexObj->getWorldTransform();
btTransform convexInPlaneTrans;
convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexWorldTransform;
//now pertube the convex-world transform
convexWorldTransform.getBasis()*=btMatrix3x3(pertubeRot);
//now perturbe the convex-world transform
convexWorldTransform.getBasis()*=btMatrix3x3(perturbeRot);
btTransform planeInConvex;
planeInConvex= convexWorldTransform.inverse() * planeObj->getWorldTransform();
@@ -106,31 +106,31 @@ void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0
const btVector3& planeNormal = planeShape->getPlaneNormal();
const btScalar& planeConstant = planeShape->getPlaneConstant();
//first perform a collision query with the non-pertubated collision objects
//first perform a collision query with the non-perturbated collision objects
{
btQuaternion rotq(0,0,0,1);
collideSingleContact(rotq,body0,body1,dispatchInfo,resultOut);
}
if (resultOut->getPersistentManifold()->getNumContacts()<m_minimumPointsPertubationThreshold)
if (resultOut->getPersistentManifold()->getNumContacts()<m_minimumPointsPerturbationThreshold)
{
btVector3 v0,v1;
btPlaneSpace1(planeNormal,v0,v1);
//now perform 'm_numPertubationIterations' collision queries with the pertubated collision objects
//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
const btScalar angleLimit = 0.125f * SIMD_PI;
btScalar pertubeAngle;
btScalar perturbeAngle;
btScalar radius = convexShape->getAngularMotionDisc();
pertubeAngle = gContactBreakingThreshold / radius;
if ( pertubeAngle > angleLimit )
pertubeAngle = angleLimit;
perturbeAngle = gContactBreakingThreshold / radius;
if ( perturbeAngle > angleLimit )
perturbeAngle = angleLimit;
btQuaternion pertubeRot(v0,pertubeAngle);
for (int i=0;i<m_numPertubationIterations;i++)
btQuaternion perturbeRot(v0,perturbeAngle);
for (int i=0;i<m_numPerturbationIterations;i++)
{
btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPertubationIterations));
btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
btQuaternion rotq(planeNormal,iterationAngle);
collideSingleContact(rotq.inverse()*pertubeRot*rotq,body0,body1,dispatchInfo,resultOut);
collideSingleContact(rotq.inverse()*perturbeRot*rotq,body0,body1,dispatchInfo,resultOut);
}
}