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more bt* to b3*

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This commit is contained in:
erwin coumans
2013-04-16 17:08:59 -07:00
parent faabffc23d
commit e646754228
116 changed files with 2466 additions and 3034 deletions
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76
demo/donttouch/OpenGL3CoreRenderer.cpp
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@@ -4,7 +4,7 @@
#include "OpenGLWindow/ShapeData.h"
//#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
//#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCommon/btQuickprof.h"
#include "BulletCommon/b3Quickprof.h"
/*#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
@@ -64,20 +64,20 @@ struct GraphicsShape
GraphicsShape* createGraphicsShapeFromConvexHull(const btConvexPolyhedron* utilPtr)
{
btAlignedObjectArray<GraphicsVertex>* vertices = new btAlignedObjectArray<GraphicsVertex>;
b3AlignedObjectArray<GraphicsVertex>* vertices = new b3AlignedObjectArray<GraphicsVertex>;
{
int numVertices = utilPtr->m_vertices.size();
int numIndices = 0;
btAlignedObjectArray<int>* indicesPtr = new btAlignedObjectArray<int>;
b3AlignedObjectArray<int>* indicesPtr = new b3AlignedObjectArray<int>;
for (int f=0;f<utilPtr->m_faces.size();f++)
{
const btFace& face = utilPtr->m_faces[f];
btVector3 normal(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
b3Vector3 normal(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
if (face.m_indices.size()>2)
{
GraphicsVertex vtx;
const btVector3& orgVertex = utilPtr->m_vertices[face.m_indices[0]];
const b3Vector3& orgVertex = utilPtr->m_vertices[face.m_indices[0]];
vtx.xyzw[0] = orgVertex[0];vtx.xyzw[1] = orgVertex[1];vtx.xyzw[2] = orgVertex[2];vtx.xyzw[3] = 0.f;
vtx.normal[0] = normal[0];vtx.normal[1] = normal[1];vtx.normal[2] = normal[2];
vtx.uv[0] = 0.5f;vtx.uv[1] = 0.5f;
@@ -89,7 +89,7 @@ GraphicsShape* createGraphicsShapeFromConvexHull(const btConvexPolyhedron* utilP
indicesPtr->push_back(newvtxindex0);
{
GraphicsVertex vtx;
const btVector3& orgVertex = utilPtr->m_vertices[face.m_indices[j]];
const b3Vector3& orgVertex = utilPtr->m_vertices[face.m_indices[j]];
vtx.xyzw[0] = orgVertex[0];vtx.xyzw[1] = orgVertex[1];vtx.xyzw[2] = orgVertex[2];vtx.xyzw[3] = 0.f;
vtx.normal[0] = normal[0];vtx.normal[1] = normal[1];vtx.normal[2] = normal[2];
vtx.uv[0] = 0.5f;vtx.uv[1] = 0.5f;
@@ -100,7 +100,7 @@ GraphicsShape* createGraphicsShapeFromConvexHull(const btConvexPolyhedron* utilP
{
GraphicsVertex vtx;
const btVector3& orgVertex = utilPtr->m_vertices[face.m_indices[j+1]];
const b3Vector3& orgVertex = utilPtr->m_vertices[face.m_indices[j+1]];
vtx.xyzw[0] = orgVertex[0];vtx.xyzw[1] = orgVertex[1];vtx.xyzw[2] = orgVertex[2];vtx.xyzw[3] = 0.f;
vtx.normal[0] = normal[0];vtx.normal[1] = normal[1];vtx.normal[2] = normal[2];
vtx.uv[0] = 0.5f;vtx.uv[1] = 0.5f;
@@ -127,8 +127,8 @@ GraphicsShape* createGraphicsShapeFromConvexHull(const btConvexPolyhedron* utilP
GraphicsShape* createGraphicsShapeFromCompoundShape(btCompoundShape* compound)
{
GraphicsShape* gfxShape = new GraphicsShape();
btAlignedObjectArray<GraphicsVertex>* vertexArray = new btAlignedObjectArray<GraphicsVertex>;
btAlignedObjectArray<int>* indexArray = new btAlignedObjectArray<int>;
b3AlignedObjectArray<GraphicsVertex>* vertexArray = new b3AlignedObjectArray<GraphicsVertex>;
b3AlignedObjectArray<int>* indexArray = new b3AlignedObjectArray<int>;
@@ -139,7 +139,7 @@ GraphicsShape* createGraphicsShapeFromCompoundShape(btCompoundShape* compound)
if (compound->getChildShape(i)->isPolyhedral())
{
btPolyhedralConvexShape* convexHull = (btPolyhedralConvexShape*) compound->getChildShape(i);
btTransform tr = compound->getChildTransform(i);
b3Transform tr = compound->getChildTransform(i);
const btConvexPolyhedron* polyhedron = convexHull->getConvexPolyhedron();
GraphicsShape* childGfxShape = createGraphicsShapeFromConvexHull(polyhedron);
@@ -153,7 +153,7 @@ GraphicsShape* createGraphicsShapeFromCompoundShape(btCompoundShape* compound)
for (int j=0;j<childGfxShape->m_numvertices;j++)
{
GraphicsVertex vtx;
btVector3 pos(orgVerts[j].xyzw[0],orgVerts[j].xyzw[1],orgVerts[j].xyzw[2]);
b3Vector3 pos(orgVerts[j].xyzw[0],orgVerts[j].xyzw[1],orgVerts[j].xyzw[2]);
pos = tr*pos;
vtx.xyzw[0] = childGfxShape->m_scaling[0]*pos.getX();
vtx.xyzw[1] = childGfxShape->m_scaling[1]*pos.getY();
@@ -163,7 +163,7 @@ GraphicsShape* createGraphicsShapeFromCompoundShape(btCompoundShape* compound)
vtx.uv[0] = 0.5f;
vtx.uv[1] = 0.5f;
btVector3 normal(orgVerts[j].normal[0],orgVerts[j].normal[1],orgVerts[j].normal[2]);
b3Vector3 normal(orgVerts[j].normal[0],orgVerts[j].normal[1],orgVerts[j].normal[2]);
normal = tr.getBasis()*normal;
vtx.normal[0] = normal.getX();
vtx.normal[1] = normal.getY();
@@ -192,12 +192,12 @@ GraphicsShape* createGraphicsShapeFromCompoundShape(btCompoundShape* compound)
GraphicsShape* createGraphicsShapeFromConcaveMesh(const btBvhTriangleMeshShape* trimesh)
{
btAlignedObjectArray<GraphicsVertex>* vertices = new btAlignedObjectArray<GraphicsVertex>;
btAlignedObjectArray<int>* indicesPtr = new btAlignedObjectArray<int>;
b3AlignedObjectArray<GraphicsVertex>* vertices = new b3AlignedObjectArray<GraphicsVertex>;
b3AlignedObjectArray<int>* indicesPtr = new b3AlignedObjectArray<int>;
const b3StridingMeshInterface* meshInterface = trimesh->getMeshInterface();
btVector3 trimeshScaling(1,1,1);
b3Vector3 trimeshScaling(1,1,1);
for (int partId=0;partId<meshInterface->getNumSubParts();partId++)
{
@@ -211,9 +211,9 @@ GraphicsShape* createGraphicsShapeFromConcaveMesh(const btBvhTriangleMeshShape*
PHY_ScalarType indicestype = PHY_INTEGER;
//PHY_ScalarType indexType=0;
btVector3 triangleVerts[3];
b3Vector3 triangleVerts[3];
meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts, type,stride,&indexbase,indexstride,numfaces,indicestype,partId);
btVector3 aabbMin,aabbMax;
b3Vector3 aabbMin,aabbMax;
for (int triangleIndex = 0 ; triangleIndex < numfaces;triangleIndex++)
{
@@ -226,7 +226,7 @@ GraphicsShape* createGraphicsShapeFromConcaveMesh(const btBvhTriangleMeshShape*
if (type == PHY_FLOAT)
{
float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
triangleVerts[j] = btVector3(
triangleVerts[j] = b3Vector3(
graphicsbase[0]*trimeshScaling.getX(),
graphicsbase[1]*trimeshScaling.getY(),
graphicsbase[2]*trimeshScaling.getZ());
@@ -234,12 +234,12 @@ GraphicsShape* createGraphicsShapeFromConcaveMesh(const btBvhTriangleMeshShape*
else
{
double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
triangleVerts[j] = btVector3( btScalar(graphicsbase[0]*trimeshScaling.getX()),
btScalar(graphicsbase[1]*trimeshScaling.getY()),
btScalar(graphicsbase[2]*trimeshScaling.getZ()));
triangleVerts[j] = b3Vector3( b3Scalar(graphicsbase[0]*trimeshScaling.getX()),
b3Scalar(graphicsbase[1]*trimeshScaling.getY()),
b3Scalar(graphicsbase[2]*trimeshScaling.getZ()));
}
}
btVector3 normal = (triangleVerts[2]-triangleVerts[0]).cross(triangleVerts[1]-triangleVerts[0]);
b3Vector3 normal = (triangleVerts[2]-triangleVerts[0]).cross(triangleVerts[1]-triangleVerts[0]);
normal.normalize();
GraphicsVertex vtx0,vtx1,vtx2;
@@ -299,18 +299,18 @@ GraphicsShape* createGraphicsShapeFromConcaveMesh(const btBvhTriangleMeshShape*
GraphicsShape* createGraphicsShapeFromWavefrontObj(objLoader* obj)
{
btAlignedObjectArray<GraphicsVertex>* vertices = new btAlignedObjectArray<GraphicsVertex>;
b3AlignedObjectArray<GraphicsVertex>* vertices = new b3AlignedObjectArray<GraphicsVertex>;
{
// int numVertices = obj->vertexCount;
// int numIndices = 0;
btAlignedObjectArray<int>* indicesPtr = new btAlignedObjectArray<int>;
b3AlignedObjectArray<int>* indicesPtr = new b3AlignedObjectArray<int>;
/*
for (int v=0;v<obj->vertexCount;v++)
{
vtx.xyzw[0] = obj->vertexList[v]->e[0];
vtx.xyzw[1] = obj->vertexList[v]->e[1];
vtx.xyzw[2] = obj->vertexList[v]->e[2];
btVector3 n(vtx.xyzw[0],vtx.xyzw[1],vtx.xyzw[2]);
b3Vector3 n(vtx.xyzw[0],vtx.xyzw[1],vtx.xyzw[2]);
if (n.length2()>SIMD_EPSILON)
{
n.normalize();
@@ -332,10 +332,10 @@ GraphicsShape* createGraphicsShapeFromWavefrontObj(objLoader* obj)
for (int f=0;f<obj->faceCount;f++)
{
obj_face* face = obj->faceList[f];
//btVector3 normal(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
//b3Vector3 normal(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
if (face->vertex_count>=3)
{
btVector3 normal(0,1,0);
b3Vector3 normal(0,1,0);
int vtxBaseIndex = vertices->size();
if (face->vertex_count<=4)
@@ -366,9 +366,9 @@ GraphicsShape* createGraphicsShapeFromWavefrontObj(objLoader* obj)
vtx2.uv[1] = obj->textureList[face->vertex_index[2]]->e[1];
btVector3 v0(vtx0.xyzw[0],vtx0.xyzw[1],vtx0.xyzw[2]);
btVector3 v1(vtx1.xyzw[0],vtx1.xyzw[1],vtx1.xyzw[2]);
btVector3 v2(vtx2.xyzw[0],vtx2.xyzw[1],vtx2.xyzw[2]);
b3Vector3 v0(vtx0.xyzw[0],vtx0.xyzw[1],vtx0.xyzw[2]);
b3Vector3 v1(vtx1.xyzw[0],vtx1.xyzw[1],vtx1.xyzw[2]);
b3Vector3 v2(vtx2.xyzw[0],vtx2.xyzw[1],vtx2.xyzw[2]);
normal = (v1-v0).cross(v2-v0);
normal.normalize();
@@ -446,13 +446,13 @@ void graphics_from_physics(GLInstancingRenderer& renderer, bool syncTransformsOn
{
btCollisionObject* colObj = colObjArray[i];
btVector3 pos = colObj->getWorldTransform().getOrigin();
btQuaternion orn = colObj->getWorldTransform().getRotation();
b3Vector3 pos = colObj->getWorldTransform().getOrigin();
b3Quaternion orn = colObj->getWorldTransform().getRotation();
float position[4] = {pos.getX(),pos.getY(),pos.getZ(),0.f};
float orientation[4] = {orn.getX(),orn.getY(),orn.getZ(),orn.getW()};
float color[4] = {0,0,0,1};
btVector3 localScaling = colObj->getCollisionShape()->getLocalScaling();
b3Vector3 localScaling = colObj->getCollisionShape()->getLocalScaling();
if (colObj->isStaticOrKinematicObject())
@@ -476,7 +476,7 @@ void graphics_from_physics(GLInstancingRenderer& renderer, bool syncTransformsOn
prevGraphicsShapeIndex = renderer.registerShape(&gfxShape->m_vertices[0],gfxShape->m_numvertices,gfxShape->m_indices,gfxShape->m_numIndices);
prevShape = colObj->getCollisionShape();
const btVector3& scaling = prevShape->getLocalScaling();
const b3Vector3& scaling = prevShape->getLocalScaling();
localScaling[0] = scaling.getX();localScaling[1] = scaling.getY();localScaling[2] = scaling.getZ();
} else
{
@@ -486,7 +486,7 @@ void graphics_from_physics(GLInstancingRenderer& renderer, bool syncTransformsOn
GraphicsShape* gfxShape = createGraphicsShapeFromConcaveMesh(trimesh);
prevGraphicsShapeIndex = renderer.registerShape(&gfxShape->m_vertices[0],gfxShape->m_numvertices,gfxShape->m_indices,gfxShape->m_numIndices);
prevShape = colObj->getCollisionShape();
const btVector3& scaling = prevShape->getLocalScaling();
const b3Vector3& scaling = prevShape->getLocalScaling();
localScaling[0] = scaling.getX();localScaling[1] = scaling.getY();localScaling[2] = scaling.getZ();
} else
{
@@ -498,7 +498,7 @@ void graphics_from_physics(GLInstancingRenderer& renderer, bool syncTransformsOn
{
prevGraphicsShapeIndex = renderer.registerShape(&gfxShape->m_vertices[0],gfxShape->m_numvertices,gfxShape->m_indices,gfxShape->m_numIndices);
prevShape = colObj->getCollisionShape();
const btVector3& scaling = prevShape->getLocalScaling();
const b3Vector3& scaling = prevShape->getLocalScaling();
localScaling[0] = scaling.getX();localScaling[1] = scaling.getY();localScaling[2] = scaling.getZ();
} else
{
@@ -509,7 +509,7 @@ void graphics_from_physics(GLInstancingRenderer& renderer, bool syncTransformsOn
if (colObj->getCollisionShape()->getShapeType()==SPHERE_SHAPE_PROXYTYPE)
{
btSphereShape* sphere = (btSphereShape*) colObj->getCollisionShape();
btScalar radius = sphere->getRadius();
b3Scalar radius = sphere->getRadius();
//btConvexHullShape* spherePoly = new btConvexHullShape(
//const btConvexPolyhedron* pol = polyShape->getConvexPolyhedron();
@@ -589,7 +589,7 @@ void graphics_from_physics(GLInstancingRenderer& renderer, bool syncTransformsOn
}
}
prevShape = sphere;
const btVector3& scaling = prevShape->getLocalScaling();
const b3Vector3& scaling = prevShape->getLocalScaling();
//assume uniform scaling, using X component
float sphereScale = radius*scaling.getX();
localScaling[0] = sphereScale;