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prepare for Box2D style gui demo

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This commit is contained in:
ejcoumans
2007-10-18 06:37:36 +00:00
parent 8f7b132d23
commit dbe502c5a8
19 changed files with 902 additions and 101 deletions
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2
src/BulletCollision/CollisionShapes/btBoxShape.h
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@@ -20,7 +20,7 @@ subject to the following restrictions:
#include "btCollisionMargin.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "LinearMath/btPoint3.h"
#include "LinearMath/btSimdMinMax.h"
#include "LinearMath/btMinMax.h"
///btBoxShape implements both a feature based (vertex/edge/plane) and implicit (getSupportingVertex) Box
class btBoxShape: public btPolyhedralConvexShape

20
src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
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@@ -192,8 +192,8 @@ btScalar resolveSingleFriction(
j1 = -vrel * cpd->m_jacDiagABInvTangent0;
btScalar oldTangentImpulse = cpd->m_accumulatedTangentImpulse0;
cpd->m_accumulatedTangentImpulse0 = oldTangentImpulse + j1;
GEN_set_min(cpd->m_accumulatedTangentImpulse0, limit);
GEN_set_max(cpd->m_accumulatedTangentImpulse0, -limit);
btSetMin(cpd->m_accumulatedTangentImpulse0, limit);
btSetMax(cpd->m_accumulatedTangentImpulse0, -limit);
j1 = cpd->m_accumulatedTangentImpulse0 - oldTangentImpulse;
}
@@ -206,8 +206,8 @@ btScalar resolveSingleFriction(
j2 = -vrel * cpd->m_jacDiagABInvTangent1;
btScalar oldTangentImpulse = cpd->m_accumulatedTangentImpulse1;
cpd->m_accumulatedTangentImpulse1 = oldTangentImpulse + j2;
GEN_set_min(cpd->m_accumulatedTangentImpulse1, limit);
GEN_set_max(cpd->m_accumulatedTangentImpulse1, -limit);
btSetMin(cpd->m_accumulatedTangentImpulse1, limit);
btSetMax(cpd->m_accumulatedTangentImpulse1, -limit);
j2 = cpd->m_accumulatedTangentImpulse1 - oldTangentImpulse;
}
@@ -270,8 +270,8 @@ btScalar resolveSingleFrictionOriginal(
// calculate j that moves us to zero relative velocity
btScalar j = -vrel * cpd->m_jacDiagABInvTangent0;
btScalar total = cpd->m_accumulatedTangentImpulse0 + j;
GEN_set_min(total, limit);
GEN_set_max(total, -limit);
btSetMin(total, limit);
btSetMax(total, -limit);
j = total - cpd->m_accumulatedTangentImpulse0;
cpd->m_accumulatedTangentImpulse0 = total;
body1.applyImpulse(j * cpd->m_frictionWorldTangential0, rel_pos1);
@@ -290,8 +290,8 @@ btScalar resolveSingleFrictionOriginal(
// calculate j that moves us to zero relative velocity
btScalar j = -vrel * cpd->m_jacDiagABInvTangent1;
btScalar total = cpd->m_accumulatedTangentImpulse1 + j;
GEN_set_min(total, limit);
GEN_set_max(total, -limit);
btSetMin(total, limit);
btSetMax(total, -limit);
j = total - cpd->m_accumulatedTangentImpulse1;
cpd->m_accumulatedTangentImpulse1 = total;
body1.applyImpulse(j * cpd->m_frictionWorldTangential1, rel_pos1);
@@ -388,8 +388,8 @@ btScalar resolveSingleCollisionCombined(
(body1.getInvMass() + body2.getInvMass() + lat_vel.dot(temp1.cross(rel_pos1) + temp2.cross(rel_pos2)));
btScalar normal_impulse = cpd->m_appliedImpulse * combinedFriction;
GEN_set_min(friction_impulse, normal_impulse);
GEN_set_max(friction_impulse, -normal_impulse);
btSetMin(friction_impulse, normal_impulse);
btSetMax(friction_impulse, -normal_impulse);
body1.applyImpulse(lat_vel * -friction_impulse, rel_pos1);
body2.applyImpulse(lat_vel * friction_impulse, rel_pos2);
}

4
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
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@@ -508,8 +508,8 @@ btScalar calcRollingFriction(btWheelContactPoint& contactPoint)
// calculate j that moves us to zero relative velocity
j1 = -vrel * contactPoint.m_jacDiagABInv;
GEN_set_min(j1, maxImpulse);
GEN_set_max(j1, -maxImpulse);
btSetMin(j1, maxImpulse);
btSetMax(j1, -maxImpulse);
return j1;
}

4
src/LinearMath/btAabbUtil2.h
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@@ -18,11 +18,9 @@ subject to the following restrictions:
#define AABB_UTIL2
#include "btVector3.h"
#include "btSimdMinMax.h"
#include "btMinMax.h"
#define btMin(a,b) ((a < b ? a : b))
#define btMax(a,b) ((a > b ? a : b))
/// conservative test for overlap between two aabbs

12
src/LinearMath/btMinMax.h
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@@ -18,15 +18,15 @@ subject to the following restrictions:
#define GEN_MINMAX_H
template <class T>
SIMD_FORCE_INLINE const T& GEN_min(const T& a, const T& b)
SIMD_FORCE_INLINE const T& btMin(const T& a, const T& b)
{
return b < a ? b : a;
return a < b ? a : b ;
}
template <class T>
SIMD_FORCE_INLINE const T& GEN_max(const T& a, const T& b)
SIMD_FORCE_INLINE const T& btMax(const T& a, const T& b)
{
return a < b ? b : a;
return a > b ? a : b;
}
template <class T>
@@ -36,7 +36,7 @@ SIMD_FORCE_INLINE const T& GEN_clamped(const T& a, const T& lb, const T& ub)
}
template <class T>
SIMD_FORCE_INLINE void GEN_set_min(T& a, const T& b)
SIMD_FORCE_INLINE void btSetMin(T& a, const T& b)
{
if (b < a)
{
@@ -45,7 +45,7 @@ SIMD_FORCE_INLINE void GEN_set_min(T& a, const T& b)
}
template <class T>
SIMD_FORCE_INLINE void GEN_set_max(T& a, const T& b)
SIMD_FORCE_INLINE void btSetMax(T& a, const T& b)
{
if (a < b)
{

2
src/LinearMath/btQuadWord.h
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@@ -17,7 +17,7 @@ subject to the following restrictions:
#define SIMD_QUADWORD_H
#include "btScalar.h"
#include "btSimdMinMax.h"
#include "btMinMax.h"
//ATTRIBUTE_ALIGNED16(class) btQuadWordStorage
//some issues under PS3 Linux with IBM 2.1 SDK, gcc compiler prevent from using aligned quadword. todo: look into this

76
src/LinearMath/btSimdMinMax.h
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@@ -1,76 +0,0 @@
/*
Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.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.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef SIMD_MINMAX_H
#define SIMD_MINMAX_H
#include "btScalar.h"
template <class T>
SIMD_FORCE_INLINE const T& btMin(const T& a, const T& b) {
return b < a ? b : a;
}
template <class T>
SIMD_FORCE_INLINE const T& btMax(const T& a, const T& b) {
return a < b ? b : a;
}
template <class T>
SIMD_FORCE_INLINE void btSetMin(T& a, const T& b) {
if (a > b) a = b;
}
template <class T>
SIMD_FORCE_INLINE void btSetMax(T& a, const T& b) {
if (a < b) a = b;
}
// Specialize on float/double for platforms that have btFsel natively
#ifdef BT_HAVE_NATIVE_FSEL
SIMD_FORCE_INLINE float btMin( float a, float b) {
return (float)btFsel((a-b), b, a);
}
SIMD_FORCE_INLINE float btMax( float a, float b) {
return (float)btFsel((a-b), a, b);
}
SIMD_FORCE_INLINE void btSetMin(float& a, float b) {
a = (float)btFsel((a-b), b, a);
}
SIMD_FORCE_INLINE void btSetMax(float& a, float b) {
a = (float)btFsel((a-b), a, b);
}
SIMD_FORCE_INLINE double btMin( double a, double b) {
return btFsel((a-b), b, a);
}
SIMD_FORCE_INLINE double btMax( double a, double b) {
return btFsel((a-b), a, b);
}
SIMD_FORCE_INLINE void btSetMin(double& a, double b) {
a = btFsel((a-b), b, a);
}
SIMD_FORCE_INLINE void btSetMax(double& a, double b) {
a = btFsel((a-b), a, b);
}
#endif
#endif