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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
View File

@@ -1,6 +1,13 @@
Bullet Continuous Collision Detection and Physics Library
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
- 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

5
Demos/BspDemo/BspDemo.cpp
View File

@@ -96,7 +96,7 @@ int main(int argc,char** argv)
BspDemo* bspDemo = new BspDemo();
char* bspfilename = "BspDemo.bsp";
const char* bspfilename = "BspDemo.bsp";
printf("argc=%i\n",argc);
{
@@ -113,7 +113,8 @@ int main(int argc,char** argv)
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);

3
Demos/BulletDinoDemo/BulletDino.c
View File

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

2
Demos/ColladaDemo/ColladaDemo.cpp
View File

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

1
Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
View File

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

2
Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
View File

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

4
Demos/EPAPenDepthDemo/PenetrationTestBullet.cpp
View File

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

2
Demos/Jamfile
View File

@@ -39,7 +39,6 @@ SubInclude TOP Demos BspDemo ;
SubInclude TOP Demos BasicDemo ;
SubInclude TOP Demos ConvexDecompositionDemo ;
SubInclude TOP Demos ColladaDemo ;
SubInclude TOP Demos BspDemo ;
SubInclude TOP Demos VehicleDemo ;
SubInclude TOP Demos CollisionDemo ;
SubInclude TOP Demos CollisionInterfaceDemo ;
@@ -54,5 +53,4 @@ SubInclude TOP Demos GjkConvexCastDemo ;
SubInclude TOP Demos Raytracer ;
SubInclude TOP Demos SimplexDemo ;
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();
float scalingFactor = (float)scalingShape->getUniformScalingFactor();
{
btScalar tmpScaling[4][4]={scalingFactor,0,0,0,
0,scalingFactor,0,0,
0,0,scalingFactor,0,
0,0,0,1};
btScalar tmpScaling[4][4]={{scalingFactor,0,0,0},
{0,scalingFactor,0,0},
{0,0,scalingFactor,0},
{0,0,0,1}};
drawOpenGL( (btScalar*)tmpScaling,convexShape,color,debugMode);
}

15
Demos/RagdollDemo/RagdollDemo.cpp
View File

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

14
Extras/GIMPACT/include/GIMPACT/Bullet/btGImpactShape.h
View File

@@ -486,9 +486,9 @@ public:
//! 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";
}
@@ -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";
}
@@ -922,7 +922,7 @@ public:
int getMeshPartCount()
int getMeshPartCount() const
{
return m_mesh_parts.size();
}
@@ -981,7 +981,7 @@ public:
m_needs_update = true;
}
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia);
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
//! Obtains the primitive manager
@@ -1091,7 +1091,7 @@ public:
}
virtual char* getName()const
virtual const char* getName()const
{
return "GImpactMesh";
}

6
Extras/GIMPACT/src/Bullet/btGImpactShape.cpp
View File

@@ -25,7 +25,7 @@ subject to the following restrictions:
#define CALC_EXACT_INERTIA 1
void btGImpactCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia)
void btGImpactCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{
lockChildShapes();
#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();
@@ -107,7 +107,7 @@ void btGImpactMeshShapePart::calculateLocalInertia(btScalar mass,btVector3& iner
unlockChildShapes();
}
void btGImpactMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia)
void btGImpactMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{
#ifdef CALC_EXACT_INERTIA

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

26
Extras/quickstep/OdeMacros.h
View File

@@ -165,32 +165,8 @@ inline void dSetValue1 (btScalar *a, int n, btScalar value)
/// 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
//------------------------------------------------------------------------------

6
src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
View File

@@ -206,11 +206,11 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::setAabb(btBroadphaseProxy* proxy,cons
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 )
:m_invalidPair(0),
:m_bpHandleMask(handleMask),
m_handleSentinel(handleSentinel),
m_pairCache(pairCache),
m_ownsPairCache(false),
m_bpHandleMask(handleMask),
m_handleSentinel(handleSentinel)
m_invalidPair(0)
{
if (!m_pairCache)
{

8
src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp
View File

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

5
src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
View File

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

8
src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
View File

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

1
src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h
View File

@@ -43,3 +43,4 @@ public:
};
#endif //BT_COLLISION_CONFIGURATION

7
src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
View File

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

1
src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
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@@ -79,3 +79,4 @@ public:
};
#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;
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[1].setValue( btScalar(0.0), btScalar(-1.0), btScalar(0.0) );
n[2].setValue( btScalar(0.0), btScalar(0.0), btScalar(-1.0) );

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

@@ -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.);
btVector3 halfExtents = getHalfExtentsWithMargin();

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

@@ -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
{
@@ -279,7 +279,7 @@ public:
//debugging
virtual char* getName()const
virtual const char* getName()const
{
return "Box";
}

6
src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
View File

@@ -22,8 +22,9 @@ subject to the following restrictions:
///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.
btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh)
:btTriangleMeshShape(meshInterface),m_useQuantizedAabbCompression(useQuantizedAabbCompression),
:btTriangleMeshShape(meshInterface),
m_bvh(0),
m_useQuantizedAabbCompression(useQuantizedAabbCompression),
m_ownsBvh(false)
{
//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)
:btTriangleMeshShape(meshInterface),m_useQuantizedAabbCompression(useQuantizedAabbCompression),
:btTriangleMeshShape(meshInterface),
m_bvh(0),
m_useQuantizedAabbCompression(useQuantizedAabbCompression),
m_ownsBvh(false)
{
//construct bvh from meshInterface

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

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

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

@@ -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

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

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

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

@@ -76,11 +76,11 @@ public:
virtual int getShapeType() const=0;
virtual void setLocalScaling(const btVector3& scaling) =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
virtual char* getName()const =0 ;
virtual const char* getName()const =0 ;
#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;
}
void btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia)
void btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{
//approximation: take the inertia from the aabb for now
btTransform ident;

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

@@ -99,7 +99,7 @@ public:
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;}
@@ -111,7 +111,7 @@ public:
{
return m_collisionMargin;
}
virtual char* getName()const
virtual const char* getName()const
{
return "Compound";
}

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

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

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

@@ -57,7 +57,7 @@ public:
virtual int getShapeType()const { return CONVEX_HULL_SHAPE_PROXYTYPE; }
//debugging
virtual char* getName()const {return "Convex";}
virtual const char* getName()const {return "Convex";}
virtual int getNumVertices() const;

1
src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp
View File

@@ -13,6 +13,7 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#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; }
//debugging
virtual char* getName()const {return "ConvexTrimesh";}
virtual const char* getName()const {return "ConvexTrimesh";}
virtual int getNumVertices() const;
virtual int getNumEdges() const;

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

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

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

@@ -49,12 +49,12 @@ public:
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 char* getName()const
virtual const char* getName()const
{
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)
:m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
m_width(width),
:m_width(width),
m_length(length),
m_heightfieldDataUnknown(heightfieldData),
m_maxHeight(maxHeight),
m_upAxis(upAxis),
m_heightfieldDataUnknown(heightfieldData),
m_useFloatData(useFloatData),
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

4
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
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@@ -74,14 +74,14 @@ public:
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 const btVector3& getLocalScaling() const;
//debugging
virtual char* getName()const {return "HEIGHTFIELD";}
virtual const char* getName()const {return "HEIGHTFIELD";}
};

2
src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp
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@@ -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;
btAssert(0);

4
src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
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@@ -37,7 +37,7 @@ public:
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 setTransformB(const btTransform& transB) { m_transB = transB;}
@@ -53,7 +53,7 @@ public:
const btConvexShape* getShapeA() const { return m_shapeA;}
const btConvexShape* getShapeB() const { return m_shapeB;}
virtual char* getName()const
virtual const char* getName()const
{
return "MinkowskiSum";
}

2
src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
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@@ -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

4
src/BulletCollision/CollisionShapes/btMultiSphereShape.h
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@@ -39,7 +39,7 @@ public:
btMultiSphereShape (const btVector3& inertiaHalfExtents,const btVector3* positions,const btScalar* radi,int numSpheres);
///CollisionShape Interface
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia);
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
/// btConvexShape Interface
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
@@ -63,7 +63,7 @@ public:
virtual int getShapeType() const { return MULTI_SPHERE_SHAPE_PROXYTYPE; }
virtual char* getName()const
virtual const char* getName()const
{
return "MultiSphere";
}

2
src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
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@@ -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.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btOptimizedBvh.h"
#include "btStridingMeshInterface.h"
#include "LinearMath/btAabbUtil2.h"
@@ -1178,5 +1177,6 @@ m_bvhAabbMin(self.m_bvhAabbMin),
m_bvhAabbMax(self.m_bvhAabbMax),
m_bvhQuantization(self.m_bvhQuantization)
{
}

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

2
src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
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@@ -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

2
src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
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@@ -38,7 +38,7 @@ public:
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)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

2
src/BulletCollision/CollisionShapes/btSphereShape.cpp
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@@ -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();
inertia.setValue(elem,elem,elem);

4
src/BulletCollision/CollisionShapes/btSphereShape.h
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@@ -36,7 +36,7 @@ public:
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;
@@ -45,7 +45,7 @@ public:
btScalar getRadius() const { return m_implicitShapeDimensions.getX() * m_localScaling.getX();}
//debugging
virtual char* getName()const {return "SPHERE";}
virtual const char* getName()const {return "SPHERE";}
virtual void setMargin(btScalar margin)
{

2
src/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp
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@@ -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;

4
src/BulletCollision/CollisionShapes/btStaticPlaneShape.h
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@@ -46,14 +46,14 @@ public:
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 const btVector3& getLocalScaling() const;
//debugging
virtual char* getName()const {return "STATICPLANE";}
virtual const char* getName()const {return "STATICPLANE";}
};

2
src/BulletCollision/CollisionShapes/btTetrahedronShape.h
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@@ -68,7 +68,7 @@ public:
///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
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@@ -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;
//moving concave objects not supported

4
src/BulletCollision/CollisionShapes/btTriangleMeshShape.h
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@@ -53,7 +53,7 @@ public:
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 const btVector3& getLocalScaling() const;
@@ -70,7 +70,7 @@ public:
//debugging
virtual char* getName()const {return "TRIANGLEMESH";}
virtual const char* getName()const {return "TRIANGLEMESH";}
};

4
src/BulletCollision/CollisionShapes/btTriangleShape.h
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@@ -116,7 +116,7 @@ public:
planeSupport = m_vertices1[0];
}
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia)
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const
{
(void)mass;
btAssert(0);
@@ -155,7 +155,7 @@ public:
return false;
}
//debugging
virtual char* getName()const
virtual const char* getName()const
{
return "Triangle";
}

2
src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp
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@@ -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...

4
src/BulletCollision/CollisionShapes/btUniformScalingShape.h
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@@ -37,7 +37,7 @@ class btUniformScalingShape : public btConvexShape
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
{
@@ -54,7 +54,7 @@ class btUniformScalingShape : public btConvexShape
return m_childConvexShape;
}
virtual char* getName()const
virtual const char* getName()const
{
return "UniformScalingShape";
}

3
src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
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@@ -112,8 +112,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
//just take fixed number of orientation, and sample the penetration depth in that direction
btScalar minProj = btScalar(1e30);
btVector3 minNorm;
btVector3 minVertex;
btVector3 minNorm(btScalar(0.), btScalar(0.), btScalar(0.));
btVector3 minA,minB;
btVector3 seperatingAxisInA,seperatingAxisInB;
btVector3 pInA,qInB,pWorld,qWorld,w;

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

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

1
src/BulletDynamics/ConstraintSolver/btSolverBody.h
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@@ -73,3 +73,4 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverBody
};
#endif //BT_SOLVER_BODY_H

12
src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
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@@ -20,9 +20,9 @@ subject to the following restrictions:
static btRigidBody s_fixed(0, 0,0);
btTypedConstraint::btTypedConstraint(btTypedConstraintType type)
: m_constraintType (type),
m_userConstraintType(-1),
:m_userConstraintType(-1),
m_userConstraintId(-1),
m_constraintType (type),
m_rbA(s_fixed),
m_rbB(s_fixed),
m_appliedImpulse(btScalar(0.))
@@ -30,9 +30,9 @@ m_appliedImpulse(btScalar(0.))
s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
}
btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA)
: m_constraintType (type),
m_userConstraintType(-1),
:m_userConstraintType(-1),
m_userConstraintId(-1),
m_constraintType (type),
m_rbA(rbA),
m_rbB(s_fixed),
m_appliedImpulse(btScalar(0.))
@@ -43,9 +43,9 @@ m_appliedImpulse(btScalar(0.))
btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB)
: m_constraintType (type),
m_userConstraintType(-1),
:m_userConstraintType(-1),
m_userConstraintId(-1),
m_constraintType (type),
m_rbA(rbA),
m_rbB(rbB),
m_appliedImpulse(btScalar(0.))

3
src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp
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@@ -50,7 +50,7 @@ void btContinuousDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
///update aabbs information
updateAabbs();
static int frame=0;
//static int frame=0;
// printf("frame %d\n",frame++);
///apply gravity, predict motion
@@ -144,7 +144,6 @@ void btContinuousDynamicsWorld::updateTemporalAabbs(btScalar timeStep)
{
body->getCollisionShape()->getAabb(m_collisionObjects[i]->getWorldTransform(),temporalAabbMin,temporalAabbMax);
const btVector3& linvel = body->getLinearVelocity();
const btVector3& angvel = body->getAngularVelocity();
//make the AABB temporal
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 "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:
btScalar m_x;

1
src/LinearMath/btScalar.h
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@@ -29,6 +29,7 @@ subject to the following restrictions:
#ifdef WIN32
#if defined(__MINGW32__) || defined(__CYGWIN__) || (defined (_MSC_VER) && _MSC_VER < 1300)
#define SIMD_FORCE_INLINE inline
#define ATTRIBUTE_ALIGNED16(a) a
#define ATTRIBUTE_ALIGNED128(a) a