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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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45
opencl/gpu_narrowphase/host/b3OptimizedBvh.cpp
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@@ -17,7 +17,6 @@ subject to the following restrictions:
#include "b3OptimizedBvh.h"
#include "b3StridingMeshInterface.h"
#include "BulletGeometry/btAabbUtil2.h"
#include "BulletCommon/btIDebugDraw.h"
b3OptimizedBvh::b3OptimizedBvh()
@@ -29,7 +28,7 @@ b3OptimizedBvh::~b3OptimizedBvh()
}
void b3OptimizedBvh::build(b3StridingMeshInterface* triangles, bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax)
void b3OptimizedBvh::build(b3StridingMeshInterface* triangles, bool useQuantizedAabbCompression, const b3Vector3& bvhAabbMin, const b3Vector3& bvhAabbMax)
{
m_useQuantization = useQuantizedAabbCompression;
@@ -52,12 +51,12 @@ void b3OptimizedBvh::build(b3StridingMeshInterface* triangles, bool useQuantized
{
}
virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
virtual void internalProcessTriangleIndex(b3Vector3* triangle,int partId,int triangleIndex)
{
btOptimizedBvhNode node;
btVector3 aabbMin,aabbMax;
aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
b3Vector3 aabbMin,aabbMax;
aabbMin.setValue(b3Scalar(BT_LARGE_FLOAT),b3Scalar(BT_LARGE_FLOAT),b3Scalar(BT_LARGE_FLOAT));
aabbMax.setValue(b3Scalar(-BT_LARGE_FLOAT),b3Scalar(-BT_LARGE_FLOAT),b3Scalar(-BT_LARGE_FLOAT));
aabbMin.setMin(triangle[0]);
aabbMax.setMax(triangle[0]);
aabbMin.setMin(triangle[1]);
@@ -94,7 +93,7 @@ void b3OptimizedBvh::build(b3StridingMeshInterface* triangles, bool useQuantized
{
}
virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
virtual void internalProcessTriangleIndex(b3Vector3* triangle,int partId,int triangleIndex)
{
// The partId and triangle index must fit in the same (positive) integer
btAssert(partId < (1<<MAX_NUM_PARTS_IN_BITS));
@@ -103,9 +102,9 @@ void b3OptimizedBvh::build(b3StridingMeshInterface* triangles, bool useQuantized
btAssert(triangleIndex>=0);
btQuantizedBvhNode node;
btVector3 aabbMin,aabbMax;
aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
b3Vector3 aabbMin,aabbMax;
aabbMin.setValue(b3Scalar(BT_LARGE_FLOAT),b3Scalar(BT_LARGE_FLOAT),b3Scalar(BT_LARGE_FLOAT));
aabbMax.setValue(b3Scalar(-BT_LARGE_FLOAT),b3Scalar(-BT_LARGE_FLOAT),b3Scalar(-BT_LARGE_FLOAT));
aabbMin.setMin(triangle[0]);
aabbMax.setMax(triangle[0]);
aabbMin.setMin(triangle[1]);
@@ -114,8 +113,8 @@ void b3OptimizedBvh::build(b3StridingMeshInterface* triangles, bool useQuantized
aabbMax.setMax(triangle[2]);
//PCK: add these checks for zero dimensions of aabb
const btScalar MIN_AABB_DIMENSION = btScalar(0.002);
const btScalar MIN_AABB_HALF_DIMENSION = btScalar(0.001);
const b3Scalar MIN_AABB_DIMENSION = b3Scalar(0.002);
const b3Scalar MIN_AABB_HALF_DIMENSION = b3Scalar(0.001);
if (aabbMax.getX() - aabbMin.getX() < MIN_AABB_DIMENSION)
{
aabbMax.setX(aabbMax.getX() + MIN_AABB_HALF_DIMENSION);
@@ -168,8 +167,8 @@ void b3OptimizedBvh::build(b3StridingMeshInterface* triangles, bool useQuantized
{
NodeTriangleCallback callback(m_leafNodes);
btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
b3Vector3 aabbMin(b3Scalar(-BT_LARGE_FLOAT),b3Scalar(-BT_LARGE_FLOAT),b3Scalar(-BT_LARGE_FLOAT));
b3Vector3 aabbMax(b3Scalar(BT_LARGE_FLOAT),b3Scalar(BT_LARGE_FLOAT),b3Scalar(BT_LARGE_FLOAT));
triangles->InternalProcessAllTriangles(&callback,aabbMin,aabbMax);
@@ -203,7 +202,7 @@ void b3OptimizedBvh::build(b3StridingMeshInterface* triangles, bool useQuantized
void b3OptimizedBvh::refit(b3StridingMeshInterface* meshInterface,const btVector3& aabbMin,const btVector3& aabbMax)
void b3OptimizedBvh::refit(b3StridingMeshInterface* meshInterface,const b3Vector3& aabbMin,const b3Vector3& aabbMax)
{
if (m_useQuantization)
{
@@ -230,7 +229,7 @@ void b3OptimizedBvh::refit(b3StridingMeshInterface* meshInterface,const btVector
void b3OptimizedBvh::refitPartial(b3StridingMeshInterface* meshInterface,const btVector3& aabbMin,const btVector3& aabbMax)
void b3OptimizedBvh::refitPartial(b3StridingMeshInterface* meshInterface,const b3Vector3& aabbMin,const b3Vector3& aabbMax)
{
//incrementally initialize quantization values
btAssert(m_useQuantization);
@@ -287,9 +286,9 @@ void b3OptimizedBvh::updateBvhNodes(b3StridingMeshInterface* meshInterface,int f
int numfaces = 0;
PHY_ScalarType indicestype = PHY_INTEGER;
btVector3 triangleVerts[3];
btVector3 aabbMin,aabbMax;
const btVector3& meshScaling = meshInterface->getScaling();
b3Vector3 triangleVerts[3];
b3Vector3 aabbMin,aabbMax;
const b3Vector3& meshScaling = meshInterface->getScaling();
int i;
for (i=endNode-1;i>=firstNode;i--)
@@ -323,7 +322,7 @@ void b3OptimizedBvh::updateBvhNodes(b3StridingMeshInterface* meshInterface,int f
if (type == PHY_FLOAT)
{
float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
triangleVerts[j] = btVector3(
triangleVerts[j] = b3Vector3(
graphicsbase[0]*meshScaling.getX(),
graphicsbase[1]*meshScaling.getY(),
graphicsbase[2]*meshScaling.getZ());
@@ -331,14 +330,14 @@ void b3OptimizedBvh::updateBvhNodes(b3StridingMeshInterface* meshInterface,int f
else
{
double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
triangleVerts[j] = btVector3( btScalar(graphicsbase[0]*meshScaling.getX()), btScalar(graphicsbase[1]*meshScaling.getY()), btScalar(graphicsbase[2]*meshScaling.getZ()));
triangleVerts[j] = b3Vector3( b3Scalar(graphicsbase[0]*meshScaling.getX()), b3Scalar(graphicsbase[1]*meshScaling.getY()), b3Scalar(graphicsbase[2]*meshScaling.getZ()));
}
}
aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
aabbMin.setValue(b3Scalar(BT_LARGE_FLOAT),b3Scalar(BT_LARGE_FLOAT),b3Scalar(BT_LARGE_FLOAT));
aabbMax.setValue(b3Scalar(-BT_LARGE_FLOAT),b3Scalar(-BT_LARGE_FLOAT),b3Scalar(-BT_LARGE_FLOAT));
aabbMin.setMin(triangleVerts[0]);
aabbMax.setMax(triangleVerts[0]);
aabbMin.setMin(triangleVerts[1]);