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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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28
opencl/gpu_narrowphase/host/b3ConvexPolyhedronCL.h
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@@ -1,7 +1,7 @@
#ifndef CONVEX_POLYHEDRON_CL
#define CONVEX_POLYHEDRON_CL
#include "BulletCommon/btTransform.h"
#include "BulletCommon/b3Transform.h"
struct btGpuFace
{
@@ -12,12 +12,12 @@ struct btGpuFace
ATTRIBUTE_ALIGNED16(struct) b3ConvexPolyhedronCL
{
btVector3 m_localCenter;
btVector3 m_extents;
btVector3 mC;
btVector3 mE;
b3Vector3 m_localCenter;
b3Vector3 m_extents;
b3Vector3 mC;
b3Vector3 mE;
btScalar m_radius;
b3Scalar m_radius;
int m_faceOffset;
int m_numFaces;
int m_numVertices;
@@ -29,29 +29,29 @@ ATTRIBUTE_ALIGNED16(struct) b3ConvexPolyhedronCL
inline void project(const btTransform& trans, const btVector3& dir, const btAlignedObjectArray<btVector3>& vertices, btScalar& min, btScalar& max) const
inline void project(const b3Transform& trans, const b3Vector3& dir, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar& min, b3Scalar& max) const
{
min = FLT_MAX;
max = -FLT_MAX;
int numVerts = m_numVertices;
const btVector3 localDir = trans.getBasis().transpose()*dir;
const btVector3 localDi2 = quatRotate(trans.getRotation().inverse(),dir);
const b3Vector3 localDir = trans.getBasis().transpose()*dir;
const b3Vector3 localDi2 = quatRotate(trans.getRotation().inverse(),dir);
btScalar offset = trans.getOrigin().dot(dir);
b3Scalar offset = trans.getOrigin().dot(dir);
for(int i=0;i<numVerts;i++)
{
//btVector3 pt = trans * vertices[m_vertexOffset+i];
//btScalar dp = pt.dot(dir);
btScalar dp = vertices[m_vertexOffset+i].dot(localDir);
//b3Vector3 pt = trans * vertices[m_vertexOffset+i];
//b3Scalar dp = pt.dot(dir);
b3Scalar dp = vertices[m_vertexOffset+i].dot(localDir);
//btAssert(dp==dpL);
if(dp < min) min = dp;
if(dp > max) max = dp;
}
if(min>max)
{
btScalar tmp = min;
b3Scalar tmp = min;
min = max;
max = tmp;
}