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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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50
demo/gpudemo/rigidbody/GpuCompoundScene.cpp
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@@ -1,10 +1,10 @@
#include "GpuCompoundScene.h"
#include "GpuRigidBodyDemo.h"
#include "BulletCommon/btQuickprof.h"
#include "BulletCommon/b3Quickprof.h"
#include "OpenGLWindow/ShapeData.h"
#include "OpenGLWindow/GLInstancingRenderer.h"
#include "BulletCommon/btQuaternion.h"
#include "BulletCommon/b3Quaternion.h"
#include "OpenGLWindow/btgWindowInterface.h"
#include "gpu_broadphase/host/b3GpuSapBroadphase.h"
#include "../GpuDemoInternalData.h"
@@ -16,7 +16,7 @@
#include "gpu_rigidbody/host/b3GpuNarrowPhase.h"
#include "gpu_rigidbody/host/b3Config.h"
#include "GpuRigidBodyDemoInternalData.h"
#include "BulletCommon/btTransform.h"
#include "BulletCommon/b3Transform.h"
#include "OpenGLWindow/GLInstanceGraphicsShape.h"
@@ -37,35 +37,35 @@ void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
btAssert(stride2 == strideInBytes);
int index=0;
int colIndex = -1;
btAlignedObjectArray<GLInstanceVertex> vertexArray;
btAlignedObjectArray<int> indexArray;
b3AlignedObjectArray<GLInstanceVertex> vertexArray;
b3AlignedObjectArray<int> indexArray;
{
int childColIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
btVector3 childPositions[3] = {
btVector3(0,-2,0),
btVector3(0,0,0),
btVector3(0,0,2)
b3Vector3 childPositions[3] = {
b3Vector3(0,-2,0),
b3Vector3(0,0,0),
b3Vector3(0,0,2)
};
btAlignedObjectArray<btGpuChildShape> childShapes;
b3AlignedObjectArray<btGpuChildShape> childShapes;
int numChildShapes = 3;
for (int i=0;i<numChildShapes;i++)
{
//for now, only support polyhedral child shapes
btGpuChildShape child;
child.m_shapeIndex = childColIndex;
btVector3 pos = childPositions[i];
btQuaternion orn(0,0,0,1);
b3Vector3 pos = childPositions[i];
b3Quaternion orn(0,0,0,1);
for (int v=0;v<4;v++)
{
child.m_childPosition[v] = pos[v];
child.m_childOrientation[v] = orn[v];
}
childShapes.push_back(child);
btTransform tr;
b3Transform tr;
tr.setIdentity();
tr.setOrigin(pos);
tr.setRotation(orn);
@@ -78,8 +78,8 @@ void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
for (int v=0;v<numVertices;v++)
{
GLInstanceVertex vert = cubeVerts[v];
btVector3 vertPos(vert.xyzw[0],vert.xyzw[1],vert.xyzw[2]);
btVector3 newPos = tr*vertPos;
b3Vector3 vertPos(vert.xyzw[0],vert.xyzw[1],vert.xyzw[2]);
b3Vector3 newPos = tr*vertPos;
vert.xyzw[0] = newPos[0];
vert.xyzw[1] = newPos[1];
vert.xyzw[2] = newPos[2];
@@ -113,9 +113,9 @@ void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
{
float mass = 1;//j==0? 0.f : 1.f;
btVector3 position(i*ci.gapX,10+j*ci.gapY,k*ci.gapZ);
//btQuaternion orn(0,0,0,1);
btQuaternion orn(btVector3(1,0,0),0.7);
b3Vector3 position(i*ci.gapX,10+j*ci.gapY,k*ci.gapZ);
//b3Quaternion orn(0,0,0,1);
b3Quaternion orn(b3Vector3(1,0,0),0.7);
btVector4 color = colors[curColor];
curColor++;
@@ -208,11 +208,11 @@ void GpuCompoundScene::createStaticEnvironment(const ConstructionInfo& ci)
int colIndex = m_data->m_np->registerSphereShape(radius);//>registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
float mass = 0.f;
//btVector3 position((j&1)+i*2.2,1+j*2.,(j&1)+k*2.2);
btVector3 position(0,-41,0);
//b3Vector3 position((j&1)+i*2.2,1+j*2.,(j&1)+k*2.2);
b3Vector3 position(0,-41,0);
btQuaternion orn(0,0,0,1);
b3Quaternion orn(0,0,0,1);
btVector4 color = colors[curColor];
curColor++;
@@ -232,12 +232,12 @@ void GpuCompoundPlaneScene::createStaticEnvironment(const ConstructionInfo& ci)
{
int index=0;
btVector3 normal(0,1,0);
b3Vector3 normal(0,1,0);
float constant=0.f;
int colIndex = m_data->m_np->registerPlaneShape(normal,constant);//>registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
btVector3 position(0,0,0);
btQuaternion orn(0,0,0,1);
// btQuaternion orn(btVector3(1,0,0),0.3);
b3Vector3 position(0,0,0);
b3Quaternion orn(0,0,0,1);
// b3Quaternion orn(b3Vector3(1,0,0),0.3);
btVector4 color(0,0,1,1);
btVector4 scaling(100,0.01,100,1);
int strideInBytes = 9*sizeof(float);