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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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44
demo/donttouch/btGpuDynamicsWorld.cpp
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@@ -9,7 +9,7 @@
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/b3Quickprof.h"
#ifdef _WIN32
@@ -43,7 +43,7 @@ void btGpuDynamicsWorld::exitOpenCL()
int btGpuDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep)
int btGpuDynamicsWorld::stepSimulation( b3Scalar timeStep,int maxSubSteps, b3Scalar fixedTimeStep)
{
#ifndef BT_NO_PROFILE
// CProfileManager::Reset();
@@ -73,10 +73,10 @@ int btGpuDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btSc
BT_PROFILE("scatter transforms into rigidbody (CPU)");
for (int i=0;i<this->m_collisionObjects.size();i++)
{
btVector3 pos;
btQuaternion orn;
b3Vector3 pos;
b3Quaternion orn;
m_gpuPhysics->getObjectTransformFromCpu(&pos[0],&orn[0],i);
btTransform newTrans;
b3Transform newTrans;
newTrans.setOrigin(pos);
newTrans.setRotation(orn);
this->m_collisionObjects[i]->setWorldTransform(newTrans);
@@ -94,7 +94,7 @@ int btGpuDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btSc
}
void btGpuDynamicsWorld::setGravity(const btVector3& gravity)
void btGpuDynamicsWorld::setGravity(const b3Vector3& gravity)
{
}
@@ -110,8 +110,8 @@ int btGpuDynamicsWorld::findOrRegisterCollisionShape(const btCollisionShape* col
btPolyhedralConvexShape* convex = (btPolyhedralConvexShape*)colShape;
int numVertices=convex->getNumVertices();
int strideInBytes=sizeof(btVector3);
btAlignedObjectArray<btVector3> tmpVertices;
int strideInBytes=sizeof(b3Vector3);
b3AlignedObjectArray<b3Vector3> tmpVertices;
tmpVertices.resize(numVertices);
for (int i=0;i<numVertices;i++)
convex->getVertex(i,tmpVertices[i]);
@@ -128,10 +128,10 @@ int btGpuDynamicsWorld::findOrRegisterCollisionShape(const btCollisionShape* col
btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*) colShape;
b3StridingMeshInterface* meshInterface = trimesh->getMeshInterface();
btAlignedObjectArray<btVector3> vertices;
btAlignedObjectArray<int> indices;
b3AlignedObjectArray<b3Vector3> vertices;
b3AlignedObjectArray<int> indices;
btVector3 trimeshScaling(1,1,1);
b3Vector3 trimeshScaling(1,1,1);
for (int partId=0;partId<meshInterface->getNumSubParts();partId++)
{
@@ -145,9 +145,9 @@ int btGpuDynamicsWorld::findOrRegisterCollisionShape(const btCollisionShape* col
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++)
{
@@ -160,7 +160,7 @@ int btGpuDynamicsWorld::findOrRegisterCollisionShape(const btCollisionShape* col
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());
@@ -168,9 +168,9 @@ int btGpuDynamicsWorld::findOrRegisterCollisionShape(const btCollisionShape* col
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()));
}
}
vertices.push_back(triangleVerts[0]);
@@ -207,7 +207,7 @@ int btGpuDynamicsWorld::findOrRegisterCollisionShape(const btCollisionShape* col
{
btCompoundShape* compound = (btCompoundShape*) colShape;
btAlignedObjectArray<btGpuChildShape> childShapes;
b3AlignedObjectArray<btGpuChildShape> childShapes;
for (int i=0;i<compound->getNumChildShapes();i++)
{
@@ -215,8 +215,8 @@ int btGpuDynamicsWorld::findOrRegisterCollisionShape(const btCollisionShape* col
btAssert(compound->getChildShape(i)->isPolyhedral());
btGpuChildShape child;
child.m_shapeIndex = findOrRegisterCollisionShape(compound->getChildShape(i));
btVector3 pos = compound->getChildTransform(i).getOrigin();
btQuaternion orn = compound->getChildTransform(i).getRotation();
b3Vector3 pos = compound->getChildTransform(i).getOrigin();
b3Quaternion orn = compound->getChildTransform(i).getRotation();
for (int v=0;v<4;v++)
{
child.m_childPosition[v] = pos[v];
@@ -283,8 +283,8 @@ void btGpuDynamicsWorld::addRigidBody(btRigidBody* body)
{
int gpuShapeIndex= m_uniqueShapeMapping[index];
float mass = body->getInvMass() ? 1.f/body->getInvMass() : 0.f;
btVector3 pos = body->getWorldTransform().getOrigin();
btQuaternion orn = body->getWorldTransform().getRotation();
b3Vector3 pos = body->getWorldTransform().getOrigin();
b3Quaternion orn = body->getWorldTransform().getRotation();
m_gpuPhysics->registerPhysicsInstance(mass,&pos.getX(),&orn.getX(),gpuShapeIndex,m_collisionObjects.size());