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made 'calculateLocalInertia' const, thanks to cgripeos, see http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1514

Browse Source 
- applied a large patch to remove warnings
Thanks to Enrico, see http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1568
- removed SSE includes, added #incude <string.h> for memset in Extras/quickstep, thanks Eternl Knight
- disabled 16-byte alignement on btQuadWord class, it causes problems under PS3 Linux. Need to check out why.
This commit is contained in:
ejcoumans
2007-10-13 23:41:37 +00:00
parent 0aff20fc94
commit ea3dfb4ca3
66 changed files with 149 additions and 146 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
ChangeLog.txt
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@@ -1,6 +1,13 @@
Bullet Continuous Collision Detection and Physics Library Bullet Continuous Collision Detection and Physics Library
Primary author and maintainer: Erwin Coumans Primary author and maintainer: Erwin Coumans
2007 Oct 13
- made 'btCollisionShape::calculateLocalInertia' const
Thanks to cgripeos, see http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1514
- applied a large patch to remove warnings
Thanks to Enrico, see http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1568
- removed SSE includes, added #incude <string.h> for memset in Extras/quickstep, thanks Eternl Knight
2007 Oct 11 2007 Oct 11
- added Hashed Overlapping Pair Cache, recommended by Pierre Terdiman. It works like a charm, thanks Pierre and Erin Catto (code from Box2D) - added Hashed Overlapping Pair Cache, recommended by Pierre Terdiman. It works like a charm, thanks Pierre and Erin Catto (code from Box2D)
- modified some margins inside btBoxShape, btCylinderShape and btSphereShape - modified some margins inside btBoxShape, btCylinderShape and btSphereShape

5
Demos/BspDemo/BspDemo.cpp
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@@ -96,7 +96,7 @@ int main(int argc,char** argv)
BspDemo* bspDemo = new BspDemo(); BspDemo* bspDemo = new BspDemo();
char* bspfilename = "BspDemo.bsp"; const char* bspfilename = "BspDemo.bsp";
printf("argc=%i\n",argc); printf("argc=%i\n",argc);
{ {
@@ -113,7 +113,8 @@ int main(int argc,char** argv)
bspfilename = argv[1]; bspfilename = argv[1];
} }
bspDemo->initPhysics(bspfilename); // Enrico: TODO: Should change parameter type of initPhysics() to std::string or at least const char *
bspDemo->initPhysics((char*)bspfilename);
bspDemo->setCameraDistance(22.f); bspDemo->setCameraDistance(22.f);

3
Demos/BulletDinoDemo/BulletDino.c
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@@ -340,7 +340,6 @@ drawDinosaur(void)
{ {
plReal matrix[16]; plReal matrix[16];
plVector3 dinoWorldPos;
glPushMatrix(); glPushMatrix();
/* Translate the dinosaur to be at (0,8,0). */ /* Translate the dinosaur to be at (0,8,0). */
@@ -839,7 +838,7 @@ main(int argc, char **argv)
plVector3 dinoPos; plVector3 dinoPos;
plQuaternion childOrn,dinoOrient; plQuaternion childOrn,dinoOrient;
void* user_data; void* user_data=NULL;
physicsSdk = plNewBulletSdk(); physicsSdk = plNewBulletSdk();
dynamicsWorld = plCreateDynamicsWorld(physicsSdk); dynamicsWorld = plCreateDynamicsWorld(physicsSdk);

2
Demos/ColladaDemo/ColladaDemo.cpp
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@@ -141,7 +141,7 @@ int main(int argc,char** argv)
/// Import Collada 1.4 Physics objects /// Import Collada 1.4 Physics objects
/// also can pass filename in as argument /// also can pass filename in as argument
char* filename = "jenga.dae"; const char* filename = "jenga.dae";
printf("argc=%i\n",argc); printf("argc=%i\n",argc);
{ {
for (int i=0;i<argc;i++) for (int i=0;i<argc;i++)

1
Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
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@@ -228,7 +228,6 @@ void ConcaveDemo::initPhysics()
int buffersize = size+btOptimizedBvh::getAlignmentSerializationPadding(); int buffersize = size+btOptimizedBvh::getAlignmentSerializationPadding();
void* buffer = btAlignedAlloc(buffersize,16); void* buffer = btAlignedAlloc(buffersize,16);
//memset(buffer,0xcc,size);
int read = fread(buffer,1,size,file); int read = fread(buffer,1,size,file);
fclose(file); fclose(file);
bool swapEndian = false; bool swapEndian = false;

2
Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
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@@ -67,7 +67,7 @@ GLDebugDrawer debugDrawer;
int main(int argc,char** argv) int main(int argc,char** argv)
{ {
char* filename = "file.obj"; const char* filename = "file.obj";
ConvexDecompositionDemo* convexDecompDemo = new ConvexDecompositionDemo(); ConvexDecompositionDemo* convexDecompDemo = new ConvexDecompositionDemo();

4
Demos/EPAPenDepthDemo/PenetrationTestBullet.cpp
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@@ -675,8 +675,8 @@ static void RenderCallback()
glMatrixMode(GL_MODELVIEW); glMatrixMode(GL_MODELVIEW);
glLoadIdentity(); glLoadIdentity();
float RefDMin; btVector3 RefSep(btScalar(0.), btScalar(0.), btScalar(0.));
btVector3 RefSep; float RefDMin=0.f;
bool RefResult = false; bool RefResult = false;
if(gRefMode) if(gRefMode)
RefResult = ReferenceCode(gConvex0, gConvex1, RefDMin, RefSep); RefResult = ReferenceCode(gConvex0, gConvex1, RefDMin, RefSep);

2
Demos/Jamfile
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@@ -39,7 +39,6 @@ SubInclude TOP Demos BspDemo ;
SubInclude TOP Demos BasicDemo ; SubInclude TOP Demos BasicDemo ;
SubInclude TOP Demos ConvexDecompositionDemo ; SubInclude TOP Demos ConvexDecompositionDemo ;
SubInclude TOP Demos ColladaDemo ; SubInclude TOP Demos ColladaDemo ;
SubInclude TOP Demos BspDemo ;
SubInclude TOP Demos VehicleDemo ; SubInclude TOP Demos VehicleDemo ;
SubInclude TOP Demos CollisionDemo ; SubInclude TOP Demos CollisionDemo ;
SubInclude TOP Demos CollisionInterfaceDemo ; SubInclude TOP Demos CollisionInterfaceDemo ;
@@ -54,5 +53,4 @@ SubInclude TOP Demos GjkConvexCastDemo ;
SubInclude TOP Demos Raytracer ; SubInclude TOP Demos Raytracer ;
SubInclude TOP Demos SimplexDemo ; SubInclude TOP Demos SimplexDemo ;
SubInclude TOP Demos DoublePrecisionDemo ; SubInclude TOP Demos DoublePrecisionDemo ;
SubInclude TOP Demos RagdollDemo ;

8
Demos/OpenGL/GL_ShapeDrawer.cpp
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@@ -321,10 +321,10 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
const btConvexShape* convexShape = scalingShape->getChildShape(); const btConvexShape* convexShape = scalingShape->getChildShape();
float scalingFactor = (float)scalingShape->getUniformScalingFactor(); float scalingFactor = (float)scalingShape->getUniformScalingFactor();
{ {
btScalar tmpScaling[4][4]={scalingFactor,0,0,0, btScalar tmpScaling[4][4]={{scalingFactor,0,0,0},
0,scalingFactor,0,0, {0,scalingFactor,0,0},
0,0,scalingFactor,0, {0,0,scalingFactor,0},
0,0,0,1}; {0,0,0,1}};
drawOpenGL( (btScalar*)tmpScaling,convexShape,color,debugMode); drawOpenGL( (btScalar*)tmpScaling,convexShape,color,debugMode);
} }

15
Demos/RagdollDemo/RagdollDemo.cpp
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@@ -28,10 +28,19 @@ Written by: Marten Svanfeldt
GLDebugDrawer debugDrawer; GLDebugDrawer debugDrawer;
#define M_PI 3.14159265358979323846 // Enrico: Shouldn't these three variables be real constants and not defines?
#define M_PI_2 1.57079632679489661923
#define M_PI_4 0.785398163397448309616
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
#ifndef M_PI_2
#define M_PI_2 1.57079632679489661923
#endif
#ifndef M_PI_4
#define M_PI_4 0.785398163397448309616
#endif
class RagDoll class RagDoll
{ {

14
Extras/GIMPACT/include/GIMPACT/Bullet/btGImpactShape.h
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@@ -486,9 +486,9 @@ public:
//! Calculates the exact inertia tensor for this shape //! Calculates the exact inertia tensor for this shape
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia); virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
virtual char* getName()const virtual const char* getName()const
{ {
return "GImpactCompound"; return "GImpactCompound";
} }
@@ -790,12 +790,12 @@ public:
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia); virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
virtual char* getName()const virtual const char* getName()const
{ {
return "GImpactMeshShapePart"; return "GImpactMeshShapePart";
} }
@@ -922,7 +922,7 @@ public:
int getMeshPartCount() int getMeshPartCount() const
{ {
return m_mesh_parts.size(); return m_mesh_parts.size();
} }
@@ -981,7 +981,7 @@ public:
m_needs_update = true; m_needs_update = true;
} }
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia); virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
//! Obtains the primitive manager //! Obtains the primitive manager
@@ -1091,7 +1091,7 @@ public:
} }
virtual char* getName()const virtual const char* getName()const
{ {
return "GImpactMesh"; return "GImpactMesh";
} }

6
Extras/GIMPACT/src/Bullet/btGImpactShape.cpp
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@@ -25,7 +25,7 @@ subject to the following restrictions:
#define CALC_EXACT_INERTIA 1 #define CALC_EXACT_INERTIA 1
void btGImpactCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) void btGImpactCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{ {
lockChildShapes(); lockChildShapes();
#ifdef CALC_EXACT_INERTIA #ifdef CALC_EXACT_INERTIA
@@ -69,7 +69,7 @@ void btGImpactCompoundShape::calculateLocalInertia(btScalar mass,btVector3& iner
void btGImpactMeshShapePart::calculateLocalInertia(btScalar mass,btVector3& inertia) void btGImpactMeshShapePart::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{ {
lockChildShapes(); lockChildShapes();
@@ -107,7 +107,7 @@ void btGImpactMeshShapePart::calculateLocalInertia(btScalar mass,btVector3& iner
unlockChildShapes(); unlockChildShapes();
} }
void btGImpactMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) void btGImpactMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{ {
#ifdef CALC_EXACT_INERTIA #ifdef CALC_EXACT_INERTIA

2
Extras/GPUphysics/Jamfile
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@@ -14,7 +14,7 @@ if $(GLUT.AVAILABLE) = "yes"
"../../Demos/OpenGL" "../../Demos/OpenGL"
; ;
ExternalLibs GPUphysics : GLUT GLEW ; ExternalLibs GPUphysics : GLUT GLew ;
} }
} }

26
Extras/quickstep/OdeMacros.h
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@@ -165,32 +165,8 @@ inline void dSetValue1 (btScalar *a, int n, btScalar value)
/// This macros are for MSVC and XCode compilers. Remotion. /// This macros are for MSVC and XCode compilers. Remotion.
#if _MSC_VER //Visual Studio Win32, Win64
#include <xmmintrin.h> // SSE
#include <emmintrin.h> // SSE2
#include <intrin.h> // SSE3
#define __USE_SSE__
/*
#ifdef _WIN64
typedef unsigned __int64 size_t;
#else
typedef unsigned int size_t;
#endif
*/
#elif __GNUC__ // XCode GCC
#if defined(__ppc__) || defined(__ppc64__) // Mac PPC
///PPC or PPC64 Mac no SSE support
#elif defined(__i386__) // Intel Mac with SSE support
#include <xmmintrin.h> // SSE
#include <emmintrin.h> // SSE2
#include <pmmintrin.h> // SSE3
#define __USE_SSE__
#endif
#include <string.h>
#endif
#include <string.h> //for memset
//Remotion: 10.10.2007 //Remotion: 10.10.2007
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------

6
src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
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@@ -206,11 +206,11 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::setAabb(btBroadphaseProxy* proxy,cons
template <typename BP_FP_INT_TYPE> template <typename BP_FP_INT_TYPE>
btAxisSweep3Internal<BP_FP_INT_TYPE>::btAxisSweep3Internal(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel,BP_FP_INT_TYPE maxHandles, btOverlappingPairCache* pairCache ) btAxisSweep3Internal<BP_FP_INT_TYPE>::btAxisSweep3Internal(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel,BP_FP_INT_TYPE maxHandles, btOverlappingPairCache* pairCache )
:m_invalidPair(0), :m_bpHandleMask(handleMask),
m_handleSentinel(handleSentinel),
m_pairCache(pairCache), m_pairCache(pairCache),
m_ownsPairCache(false), m_ownsPairCache(false),
m_bpHandleMask(handleMask), m_invalidPair(0)
m_handleSentinel(handleSentinel)
{ {
if (!m_pairCache) if (!m_pairCache)
{ {

8
src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp
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@@ -24,9 +24,9 @@ subject to the following restrictions:
extern int gOverlappingPairs; extern int gOverlappingPairs;
btMultiSapBroadphase::btMultiSapBroadphase(int maxProxies,btOverlappingPairCache* pairCache) btMultiSapBroadphase::btMultiSapBroadphase(int maxProxies,btOverlappingPairCache* pairCache)
:m_invalidPair(0), :m_overlappingPairs(pairCache),
m_ownsPairCache(false), m_ownsPairCache(false),
m_overlappingPairs(pairCache) m_invalidPair(0)
{ {
if (!m_overlappingPairs) if (!m_overlappingPairs)
{ {
@@ -112,10 +112,10 @@ void btMultiSapBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
{ {
m_simpleBroadphase->calculateOverlappingPairs(dispatcher); m_simpleBroadphase->calculateOverlappingPairs(dispatcher);
btBroadphasePairArray& overlappingPairArray = m_overlappingPairs->getOverlappingPairArray();
#ifndef USE_HASH_PAIRCACHE #ifndef USE_HASH_PAIRCACHE
btBroadphasePairArray& overlappingPairArray = m_overlappingPairs->getOverlappingPairArray();
//perform a sort, to find duplicates and to sort 'invalid' pairs to the end //perform a sort, to find duplicates and to sort 'invalid' pairs to the end
overlappingPairArray.heapSort(btBroadphasePairSortPredicate()); overlappingPairArray.heapSort(btBroadphasePairSortPredicate());

5
src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
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@@ -28,8 +28,8 @@ int gAddedPairs =0;
int gFindPairs =0; int gFindPairs =0;
btOverlappingPairCache::btOverlappingPairCache(): btOverlappingPairCache::btOverlappingPairCache():
m_blockedForChanges(false), m_overlapFilterCallback(0),
m_overlapFilterCallback(0) m_blockedForChanges(false)
{ {
int initialAllocatedSize= 2; int initialAllocatedSize= 2;
m_overlappingPairArray.reserve(initialAllocatedSize); m_overlappingPairArray.reserve(initialAllocatedSize);
@@ -164,7 +164,6 @@ void btOverlappingPairCache::growTables()
{ {
//grow hashtable and next table //grow hashtable and next table
int curHashtableSize = m_hashTable.size(); int curHashtableSize = m_hashTable.size();
int curNextTableSize = m_next.size();
m_hashTable.resize(newCapacity); m_hashTable.resize(newCapacity);
m_next.resize(newCapacity); m_next.resize(newCapacity);

8
src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
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@@ -37,9 +37,9 @@ void btSimpleBroadphase::validate()
} }
btSimpleBroadphase::btSimpleBroadphase(int maxProxies, btOverlappingPairCache* overlappingPairCache) btSimpleBroadphase::btSimpleBroadphase(int maxProxies, btOverlappingPairCache* overlappingPairCache)
:m_invalidPair(0), :m_pairCache(overlappingPairCache),
m_pairCache(overlappingPairCache), m_ownsPairCache(false),
m_ownsPairCache(false) m_invalidPair(0)
{ {
if (!overlappingPairCache) if (!overlappingPairCache)
@@ -129,8 +129,6 @@ protected:
void btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg,btDispatcher* dispatcher) void btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg,btDispatcher* dispatcher)
{ {
int i;
btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxyOrg); btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxyOrg);
freeHandle(proxy0); freeHandle(proxy0);

1
src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h
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@@ -43,3 +43,4 @@ public:
}; };
#endif //BT_COLLISION_CONFIGURATION #endif //BT_COLLISION_CONFIGURATION

7
src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
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@@ -13,12 +13,15 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution. 3. This notice may not be removed or altered from any source distribution.
*/ */
#include "btCollisionObject.h" #include "btCollisionObject.h"
btCollisionObject::btCollisionObject() btCollisionObject::btCollisionObject()
: m_broadphaseHandle(0), : m_broadphaseHandle(0),
m_collisionShape(0), m_collisionShape(0),
m_collisionFlags(0), m_collisionFlags(0),
m_islandTag1(-1),
m_companionId(-1),
m_activationState1(1), m_activationState1(1),
m_deactivationTime(btScalar(0.)), m_deactivationTime(btScalar(0.)),
m_userObjectPointer(0), m_userObjectPointer(0),
@@ -26,9 +29,7 @@ btCollisionObject::btCollisionObject()
m_hitFraction(btScalar(1.)), m_hitFraction(btScalar(1.)),
m_ccdSweptSphereRadius(btScalar(0.)), m_ccdSweptSphereRadius(btScalar(0.)),
m_ccdSquareMotionThreshold(btScalar(0.)), m_ccdSquareMotionThreshold(btScalar(0.)),
m_checkCollideWith(false), m_checkCollideWith(false)
m_islandTag1(-1),
m_companionId(-1)
{ {
} }

1
src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
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@@ -79,3 +79,4 @@ public:
}; };
#endif //BT_DEFAULT_COLLISION_CONFIGURATION #endif //BT_DEFAULT_COLLISION_CONFIGURATION

4
src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
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@@ -216,6 +216,10 @@ btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btCollisionObject*
btVector3 p0, tmp, prel, n[6], normal; btVector3 p0, tmp, prel, n[6], normal;
btScalar fSep = btScalar(-10000000.0), fSepThis; btScalar fSep = btScalar(-10000000.0), fSepThis;
// set p0 and normal to a default value to shup up GCC
p0.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
normal.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
n[0].setValue( btScalar(-1.0), btScalar(0.0), btScalar(0.0) ); n[0].setValue( btScalar(-1.0), btScalar(0.0), btScalar(0.0) );
n[1].setValue( btScalar(0.0), btScalar(-1.0), btScalar(0.0) ); n[1].setValue( btScalar(0.0), btScalar(-1.0), btScalar(0.0) );
n[2].setValue( btScalar(0.0), btScalar(0.0), btScalar(-1.0) ); n[2].setValue( btScalar(0.0), btScalar(0.0), btScalar(-1.0) );

2
src/BulletCollision/CollisionShapes/btBoxShape.cpp
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@@ -37,7 +37,7 @@ void btBoxShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabb
} }
void btBoxShape::calculateLocalInertia(btScalar mass,btVector3& inertia) void btBoxShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{ {
//btScalar margin = btScalar(0.); //btScalar margin = btScalar(0.);
btVector3 halfExtents = getHalfExtentsWithMargin(); btVector3 halfExtents = getHalfExtentsWithMargin();

4
src/BulletCollision/CollisionShapes/btBoxShape.h
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@@ -115,7 +115,7 @@ public:
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia); virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const
{ {
@@ -279,7 +279,7 @@ public:
//debugging //debugging
virtual char* getName()const virtual const char* getName()const
{ {
return "Box"; return "Box";
} }

6
src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
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@@ -22,8 +22,9 @@ subject to the following restrictions:
///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization. ///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
///Uses an interface to access the triangles to allow for sharing graphics/physics triangles. ///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh) btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh)
:btTriangleMeshShape(meshInterface),m_useQuantizedAabbCompression(useQuantizedAabbCompression), :btTriangleMeshShape(meshInterface),
m_bvh(0), m_bvh(0),
m_useQuantizedAabbCompression(useQuantizedAabbCompression),
m_ownsBvh(false) m_ownsBvh(false)
{ {
//construct bvh from meshInterface //construct bvh from meshInterface
@@ -44,8 +45,9 @@ m_ownsBvh(false)
} }
btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,bool buildBvh) btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,bool buildBvh)
:btTriangleMeshShape(meshInterface),m_useQuantizedAabbCompression(useQuantizedAabbCompression), :btTriangleMeshShape(meshInterface),
m_bvh(0), m_bvh(0),
m_useQuantizedAabbCompression(useQuantizedAabbCompression),
m_ownsBvh(false) m_ownsBvh(false)
{ {
//construct bvh from meshInterface //construct bvh from meshInterface

2
src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
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@@ -60,7 +60,7 @@ public:
void partialRefitTree(const btVector3& aabbMin,const btVector3& aabbMax); void partialRefitTree(const btVector3& aabbMin,const btVector3& aabbMax);
//debugging //debugging
virtual char* getName()const {return "BVHTRIANGLEMESH";} virtual const char* getName()const {return "BVHTRIANGLEMESH";}
virtual void setLocalScaling(const btVector3& scaling); virtual void setLocalScaling(const btVector3& scaling);

2
src/BulletCollision/CollisionShapes/btCapsuleShape.cpp
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@@ -112,7 +112,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height)
} }
void btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia) void btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{ {
//as an approximation, take the inertia of the box that bounds the spheres //as an approximation, take the inertia of the box that bounds the spheres

4
src/BulletCollision/CollisionShapes/btCapsuleShape.h
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@@ -29,7 +29,7 @@ public:
btCapsuleShape(btScalar radius,btScalar height); btCapsuleShape(btScalar radius,btScalar height);
///CollisionShape Interface ///CollisionShape Interface
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia); virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
/// btConvexShape Interface /// btConvexShape Interface
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
@@ -38,7 +38,7 @@ public:
virtual int getShapeType() const { return CAPSULE_SHAPE_PROXYTYPE; } virtual int getShapeType() const { return CAPSULE_SHAPE_PROXYTYPE; }
virtual char* getName()const virtual const char* getName()const
{ {
return "CapsuleShape"; return "CapsuleShape";
} }

4
src/BulletCollision/CollisionShapes/btCollisionShape.h
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@@ -76,11 +76,11 @@ public:
virtual int getShapeType() const=0; virtual int getShapeType() const=0;
virtual void setLocalScaling(const btVector3& scaling) =0; virtual void setLocalScaling(const btVector3& scaling) =0;
virtual const btVector3& getLocalScaling() const =0; virtual const btVector3& getLocalScaling() const =0;
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) = 0; virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const = 0;
//debugging support //debugging support
virtual char* getName()const =0 ; virtual const char* getName()const =0 ;
#endif //__SPU__ #endif //__SPU__

2
src/BulletCollision/CollisionShapes/btCompoundShape.cpp
View File

@@ -83,7 +83,7 @@ void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVect
aabbMax = center + extent; aabbMax = center + extent;
} }
void btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) void btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{ {
//approximation: take the inertia from the aabb for now //approximation: take the inertia from the aabb for now
btTransform ident; btTransform ident;

4
src/BulletCollision/CollisionShapes/btCompoundShape.h
View File

@@ -99,7 +99,7 @@ public:
return m_localScaling; return m_localScaling;
} }
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia); virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
virtual int getShapeType() const { return COMPOUND_SHAPE_PROXYTYPE;} virtual int getShapeType() const { return COMPOUND_SHAPE_PROXYTYPE;}
@@ -111,7 +111,7 @@ public:
{ {
return m_collisionMargin; return m_collisionMargin;
} }
virtual char* getName()const virtual const char* getName()const
{ {
return "Compound"; return "Compound";
} }

4
src/BulletCollision/CollisionShapes/btConeShape.h
View File

@@ -42,7 +42,7 @@ public:
btScalar getHeight() const { return m_height;} btScalar getHeight() const { return m_height;}
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const
{ {
btTransform identity; btTransform identity;
identity.setIdentity(); identity.setIdentity();
@@ -72,7 +72,7 @@ public:
virtual int getShapeType() const { return CONE_SHAPE_PROXYTYPE; } virtual int getShapeType() const { return CONE_SHAPE_PROXYTYPE; }
virtual char* getName()const virtual const char* getName()const
{ {
return "Cone"; return "Cone";
} }

2
src/BulletCollision/CollisionShapes/btConvexHullShape.h
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@@ -57,7 +57,7 @@ public:
virtual int getShapeType()const { return CONVEX_HULL_SHAPE_PROXYTYPE; } virtual int getShapeType()const { return CONVEX_HULL_SHAPE_PROXYTYPE; }
//debugging //debugging
virtual char* getName()const {return "Convex";} virtual const char* getName()const {return "Convex";}
virtual int getNumVertices() const; virtual int getNumVertices() const;

1
src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp
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@@ -13,6 +13,7 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution. 3. This notice may not be removed or altered from any source distribution.
*/ */
#include "btConvexInternalShape.h" #include "btConvexInternalShape.h"

2
src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
View File

@@ -28,7 +28,7 @@ public:
virtual int getShapeType()const { return CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE; } virtual int getShapeType()const { return CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE; }
//debugging //debugging
virtual char* getName()const {return "ConvexTrimesh";} virtual const char* getName()const {return "ConvexTrimesh";}
virtual int getNumVertices() const; virtual int getNumVertices() const;
virtual int getNumEdges() const; virtual int getNumEdges() const;

8
src/BulletCollision/CollisionShapes/btCylinderShape.h
View File

@@ -60,7 +60,7 @@ public:
//use box inertia //use box inertia
// virtual void calculateLocalInertia(btScalar mass,btVector3& inertia); // virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
virtual int getShapeType() const virtual int getShapeType() const
{ {
@@ -78,7 +78,7 @@ public:
} }
//debugging //debugging
virtual char* getName()const virtual const char* getName()const
{ {
return "CylinderY"; return "CylinderY";
} }
@@ -96,7 +96,7 @@ public:
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
//debugging //debugging
virtual char* getName()const virtual const char* getName()const
{ {
return "CylinderX"; return "CylinderX";
} }
@@ -121,7 +121,7 @@ public:
return 2; return 2;
} }
//debugging //debugging
virtual char* getName()const virtual const char* getName()const
{ {
return "CylinderZ"; return "CylinderZ";
} }

2
src/BulletCollision/CollisionShapes/btEmptyShape.cpp
View File

@@ -40,7 +40,7 @@ void btEmptyShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aa
} }
void btEmptyShape::calculateLocalInertia(btScalar ,btVector3& ) void btEmptyShape::calculateLocalInertia(btScalar ,btVector3& ) const
{ {
btAssert(0); btAssert(0);
} }

4
src/BulletCollision/CollisionShapes/btEmptyShape.h
View File

@@ -49,12 +49,12 @@ public:
return m_localScaling; return m_localScaling;
} }
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia); virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
virtual int getShapeType() const { return EMPTY_SHAPE_PROXYTYPE;} virtual int getShapeType() const { return EMPTY_SHAPE_PROXYTYPE;}
virtual char* getName()const virtual const char* getName()const
{ {
return "Empty"; return "Empty";
} }

12
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
View File

@@ -19,15 +19,15 @@ subject to the following restrictions:
btHeightfieldTerrainShape::btHeightfieldTerrainShape(int width,int length,void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges) btHeightfieldTerrainShape::btHeightfieldTerrainShape(int width,int length,void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges)
:m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)), :m_width(width),
m_width(width),
m_length(length), m_length(length),
m_heightfieldDataUnknown(heightfieldData),
m_maxHeight(maxHeight), m_maxHeight(maxHeight),
m_upAxis(upAxis), m_heightfieldDataUnknown(heightfieldData),
m_useFloatData(useFloatData), m_useFloatData(useFloatData),
m_flipQuadEdges(flipQuadEdges), m_flipQuadEdges(flipQuadEdges),
m_useDiamondSubdivision(false) m_useDiamondSubdivision(false),
m_upAxis(upAxis),
m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.))
{ {
@@ -322,7 +322,7 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
} }
void btHeightfieldTerrainShape::calculateLocalInertia(btScalar ,btVector3& inertia) void btHeightfieldTerrainShape::calculateLocalInertia(btScalar ,btVector3& inertia) const
{ {
//moving concave objects not supported //moving concave objects not supported

4
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
View File

@@ -74,14 +74,14 @@ public:
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia); virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
virtual void setLocalScaling(const btVector3& scaling); virtual void setLocalScaling(const btVector3& scaling);
virtual const btVector3& getLocalScaling() const; virtual const btVector3& getLocalScaling() const;
//debugging //debugging
virtual char* getName()const {return "HEIGHTFIELD";} virtual const char* getName()const {return "HEIGHTFIELD";}
}; };

2
src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp
View File

@@ -49,7 +49,7 @@ btScalar btMinkowskiSumShape::getMargin() const
} }
void btMinkowskiSumShape::calculateLocalInertia(btScalar mass,btVector3& inertia) void btMinkowskiSumShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{ {
(void)mass; (void)mass;
btAssert(0); btAssert(0);

4
src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
View File

@@ -37,7 +37,7 @@ public:
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia); virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
void setTransformA(const btTransform& transA) { m_transA = transA;} void setTransformA(const btTransform& transA) { m_transA = transA;}
void setTransformB(const btTransform& transB) { m_transB = transB;} void setTransformB(const btTransform& transB) { m_transB = transB;}
@@ -53,7 +53,7 @@ public:
const btConvexShape* getShapeA() const { return m_shapeA;} const btConvexShape* getShapeA() const { return m_shapeA;}
const btConvexShape* getShapeB() const { return m_shapeB;} const btConvexShape* getShapeB() const { return m_shapeB;}
virtual char* getName()const virtual const char* getName()const
{ {
return "MinkowskiSum"; return "MinkowskiSum";
} }

2
src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
View File

@@ -116,7 +116,7 @@ btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,cons
void btMultiSphereShape::calculateLocalInertia(btScalar mass,btVector3& inertia) void btMultiSphereShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{ {
//as an approximation, take the inertia of the box that bounds the spheres //as an approximation, take the inertia of the box that bounds the spheres

4
src/BulletCollision/CollisionShapes/btMultiSphereShape.h
View File

@@ -39,7 +39,7 @@ public:
btMultiSphereShape (const btVector3& inertiaHalfExtents,const btVector3* positions,const btScalar* radi,int numSpheres); btMultiSphereShape (const btVector3& inertiaHalfExtents,const btVector3* positions,const btScalar* radi,int numSpheres);
///CollisionShape Interface ///CollisionShape Interface
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia); virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
/// btConvexShape Interface /// btConvexShape Interface
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
@@ -63,7 +63,7 @@ public:
virtual int getShapeType() const { return MULTI_SPHERE_SHAPE_PROXYTYPE; } virtual int getShapeType() const { return MULTI_SPHERE_SHAPE_PROXYTYPE; }
virtual char* getName()const virtual const char* getName()const
{ {
return "MultiSphere"; return "MultiSphere";
} }

2
src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
View File

@@ -12,7 +12,6 @@ subject to the following restrictions:
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution. 3. This notice may not be removed or altered from any source distribution.
*/ */
#include "btOptimizedBvh.h" #include "btOptimizedBvh.h"
#include "btStridingMeshInterface.h" #include "btStridingMeshInterface.h"
#include "LinearMath/btAabbUtil2.h" #include "LinearMath/btAabbUtil2.h"
@@ -1178,5 +1177,6 @@ m_bvhAabbMin(self.m_bvhAabbMin),
m_bvhAabbMax(self.m_bvhAabbMax), m_bvhAabbMax(self.m_bvhAabbMax),
m_bvhQuantization(self.m_bvhQuantization) m_bvhQuantization(self.m_bvhQuantization)
{ {
} }

6
src/BulletCollision/CollisionShapes/btOptimizedBvh.h
View File

@@ -17,6 +17,7 @@ subject to the following restrictions:
#define OPTIMIZED_BVH_H #define OPTIMIZED_BVH_H
#include "LinearMath/btVector3.h" #include "LinearMath/btVector3.h"
#include "LinearMath/btAlignedAllocator.h" #include "LinearMath/btAlignedAllocator.h"
@@ -99,6 +100,11 @@ public:
int m_subtreeSize; int m_subtreeSize;
int m_padding[3]; int m_padding[3];
btBvhSubtreeInfo()
{
//memset(&m_padding[0], 0, sizeof(m_padding));
}
void setAabbFromQuantizeNode(const btQuantizedBvhNode& quantizedNode) void setAabbFromQuantizeNode(const btQuantizedBvhNode& quantizedNode)
{ {

2
src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
View File

@@ -95,7 +95,7 @@ void btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(
void btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& inertia) void btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{ {
//not yet, return box inertia //not yet, return box inertia

2
src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
View File

@@ -38,7 +38,7 @@ public:
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia); virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const

2
src/BulletCollision/CollisionShapes/btSphereShape.cpp
View File

@@ -68,7 +68,7 @@ void btSphereShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& a
void btSphereShape::calculateLocalInertia(btScalar mass,btVector3& inertia) void btSphereShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{ {
btScalar elem = btScalar(0.4) * mass * getMargin()*getMargin(); btScalar elem = btScalar(0.4) * mass * getMargin()*getMargin();
inertia.setValue(elem,elem,elem); inertia.setValue(elem,elem,elem);

4
src/BulletCollision/CollisionShapes/btSphereShape.h
View File

@@ -36,7 +36,7 @@ public:
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia); virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
@@ -45,7 +45,7 @@ public:
btScalar getRadius() const { return m_implicitShapeDimensions.getX() * m_localScaling.getX();} btScalar getRadius() const { return m_implicitShapeDimensions.getX() * m_localScaling.getX();}
//debugging //debugging
virtual char* getName()const {return "SPHERE";} virtual const char* getName()const {return "SPHERE";}
virtual void setMargin(btScalar margin) virtual void setMargin(btScalar margin)
{ {

2
src/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp
View File

@@ -86,7 +86,7 @@ void btStaticPlaneShape::processAllTriangles(btTriangleCallback* callback,const
} }
void btStaticPlaneShape::calculateLocalInertia(btScalar mass,btVector3& inertia) void btStaticPlaneShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{ {
(void)mass; (void)mass;

4
src/BulletCollision/CollisionShapes/btStaticPlaneShape.h
View File

@@ -46,14 +46,14 @@ public:
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia); virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
virtual void setLocalScaling(const btVector3& scaling); virtual void setLocalScaling(const btVector3& scaling);
virtual const btVector3& getLocalScaling() const; virtual const btVector3& getLocalScaling() const;
//debugging //debugging
virtual char* getName()const {return "STATICPLANE";} virtual const char* getName()const {return "STATICPLANE";}
}; };

2
src/BulletCollision/CollisionShapes/btTetrahedronShape.h
View File

@@ -68,7 +68,7 @@ public:
///getName is for debugging ///getName is for debugging
virtual char* getName()const { return "btBU_Simplex1to4";} virtual const char* getName()const { return "btBU_Simplex1to4";}
}; };

2
src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
View File

@@ -175,7 +175,7 @@ void btTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const
void btTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) void btTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{ {
(void)mass; (void)mass;
//moving concave objects not supported //moving concave objects not supported

4
src/BulletCollision/CollisionShapes/btTriangleMeshShape.h
View File

@@ -53,7 +53,7 @@ public:
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia); virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
virtual void setLocalScaling(const btVector3& scaling); virtual void setLocalScaling(const btVector3& scaling);
virtual const btVector3& getLocalScaling() const; virtual const btVector3& getLocalScaling() const;
@@ -70,7 +70,7 @@ public:
//debugging //debugging
virtual char* getName()const {return "TRIANGLEMESH";} virtual const char* getName()const {return "TRIANGLEMESH";}
}; };

4
src/BulletCollision/CollisionShapes/btTriangleShape.h
View File

@@ -116,7 +116,7 @@ public:
planeSupport = m_vertices1[0]; planeSupport = m_vertices1[0];
} }
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const
{ {
(void)mass; (void)mass;
btAssert(0); btAssert(0);
@@ -155,7 +155,7 @@ public:
return false; return false;
} }
//debugging //debugging
virtual char* getName()const virtual const char* getName()const
{ {
return "Triangle"; return "Triangle";
} }

2
src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp
View File

@@ -52,7 +52,7 @@ btVector3 btUniformScalingShape::localGetSupportingVertex(const btVector3& vec)c
} }
void btUniformScalingShape::calculateLocalInertia(btScalar mass,btVector3& inertia) void btUniformScalingShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{ {
///this linear upscaling is not realistic, but we don't deal with large mass ratios... ///this linear upscaling is not realistic, but we don't deal with large mass ratios...

4
src/BulletCollision/CollisionShapes/btUniformScalingShape.h
View File

@@ -37,7 +37,7 @@ class btUniformScalingShape : public btConvexShape
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia); virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
btScalar getUniformScalingFactor() const btScalar getUniformScalingFactor() const
{ {
@@ -54,7 +54,7 @@ class btUniformScalingShape : public btConvexShape
return m_childConvexShape; return m_childConvexShape;
} }
virtual char* getName()const virtual const char* getName()const
{ {
return "UniformScalingShape"; return "UniformScalingShape";
} }

3
src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
View File

@@ -112,8 +112,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
//just take fixed number of orientation, and sample the penetration depth in that direction //just take fixed number of orientation, and sample the penetration depth in that direction
btScalar minProj = btScalar(1e30); btScalar minProj = btScalar(1e30);
btVector3 minNorm; btVector3 minNorm(btScalar(0.), btScalar(0.), btScalar(0.));
btVector3 minVertex;
btVector3 minA,minB; btVector3 minA,minB;
btVector3 seperatingAxisInA,seperatingAxisInB; btVector3 seperatingAxisInA,seperatingAxisInB;
btVector3 pInA,qInB,pWorld,qWorld,w; btVector3 pInA,qInB,pWorld,qWorld,w;

1
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
View File

@@ -206,7 +206,6 @@ void btConeTwistConstraint::solveConstraint(btScalar timeStep)
btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin(); btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin();
btScalar tau = btScalar(0.3); btScalar tau = btScalar(0.3);
btScalar damping = btScalar(1.);
//linear part //linear part
if (!m_angularOnly) if (!m_angularOnly)

1
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
View File

@@ -263,7 +263,6 @@ void btHingeConstraint::solveConstraint(btScalar timeStep)
btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin(); btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin();
btScalar tau = btScalar(0.3); btScalar tau = btScalar(0.3);
btScalar damping = btScalar(1.);
//linear part //linear part
if (!m_angularOnly) if (!m_angularOnly)

1
src/BulletDynamics/ConstraintSolver/btSolverBody.h
View File

@@ -73,3 +73,4 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverBody
}; };
#endif //BT_SOLVER_BODY_H #endif //BT_SOLVER_BODY_H

12
src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
View File

@@ -20,9 +20,9 @@ subject to the following restrictions:
static btRigidBody s_fixed(0, 0,0); static btRigidBody s_fixed(0, 0,0);
btTypedConstraint::btTypedConstraint(btTypedConstraintType type) btTypedConstraint::btTypedConstraint(btTypedConstraintType type)
: m_constraintType (type), :m_userConstraintType(-1),
m_userConstraintType(-1),
m_userConstraintId(-1), m_userConstraintId(-1),
m_constraintType (type),
m_rbA(s_fixed), m_rbA(s_fixed),
m_rbB(s_fixed), m_rbB(s_fixed),
m_appliedImpulse(btScalar(0.)) m_appliedImpulse(btScalar(0.))
@@ -30,9 +30,9 @@ m_appliedImpulse(btScalar(0.))
s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.))); s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
} }
btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA) btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA)
: m_constraintType (type), :m_userConstraintType(-1),
m_userConstraintType(-1),
m_userConstraintId(-1), m_userConstraintId(-1),
m_constraintType (type),
m_rbA(rbA), m_rbA(rbA),
m_rbB(s_fixed), m_rbB(s_fixed),
m_appliedImpulse(btScalar(0.)) m_appliedImpulse(btScalar(0.))
@@ -43,9 +43,9 @@ m_appliedImpulse(btScalar(0.))
btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB) btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB)
: m_constraintType (type), :m_userConstraintType(-1),
m_userConstraintType(-1),
m_userConstraintId(-1), m_userConstraintId(-1),
m_constraintType (type),
m_rbA(rbA), m_rbA(rbA),
m_rbB(rbB), m_rbB(rbB),
m_appliedImpulse(btScalar(0.)) m_appliedImpulse(btScalar(0.))

3
src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp
View File

@@ -50,7 +50,7 @@ void btContinuousDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
///update aabbs information ///update aabbs information
updateAabbs(); updateAabbs();
static int frame=0; //static int frame=0;
// printf("frame %d\n",frame++); // printf("frame %d\n",frame++);
///apply gravity, predict motion ///apply gravity, predict motion
@@ -144,7 +144,6 @@ void btContinuousDynamicsWorld::updateTemporalAabbs(btScalar timeStep)
{ {
body->getCollisionShape()->getAabb(m_collisionObjects[i]->getWorldTransform(),temporalAabbMin,temporalAabbMax); body->getCollisionShape()->getAabb(m_collisionObjects[i]->getWorldTransform(),temporalAabbMin,temporalAabbMax);
const btVector3& linvel = body->getLinearVelocity(); const btVector3& linvel = body->getLinearVelocity();
const btVector3& angvel = body->getAngularVelocity();
//make the AABB temporal //make the AABB temporal
float temporalAabbMaxx = temporalAabbMax.getX(); float temporalAabbMaxx = temporalAabbMax.getX();

5
src/LinearMath/btQuadWord.h
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@@ -19,7 +19,10 @@ subject to the following restrictions:
#include "btScalar.h" #include "btScalar.h"
#include "btSimdMinMax.h" #include "btSimdMinMax.h"
ATTRIBUTE_ALIGNED16(class) btQuadWordStorage //ATTRIBUTE_ALIGNED16(class) btQuadWordStorage
//some issues under PS3 Linux with IBM 2.1 SDK, gcc compiler prevent from using aligned quadword. todo: look into this
class btQuadWordStorage
{ {
protected: protected:
btScalar m_x; btScalar m_x;

1
src/LinearMath/btScalar.h
View File

@@ -29,6 +29,7 @@ subject to the following restrictions:
#ifdef WIN32 #ifdef WIN32
#if defined(__MINGW32__) || defined(__CYGWIN__) || (defined (_MSC_VER) && _MSC_VER < 1300) #if defined(__MINGW32__) || defined(__CYGWIN__) || (defined (_MSC_VER) && _MSC_VER < 1300)
#define SIMD_FORCE_INLINE inline #define SIMD_FORCE_INLINE inline
#define ATTRIBUTE_ALIGNED16(a) a #define ATTRIBUTE_ALIGNED16(a) a
#define ATTRIBUTE_ALIGNED128(a) a #define ATTRIBUTE_ALIGNED128(a) a