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merged most of the changes from the branch into trunk, except for COLLADA, libxml and glut glitches.

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Still need to verify to make sure no unwanted renaming is introduced.
This commit is contained in:
ejcoumans
2006-09-27 20:43:51 +00:00
parent d1e9a885f3
commit eb23bb5c0c
263 changed files with 7528 additions and 6714 deletions
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58
Demos/CollisionDemo/CollisionDemo.cpp
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@@ -16,15 +16,15 @@ subject to the following restrictions:
///
/// Collision Demo shows a degenerate case, where the Simplex solver has to deal with near-affine dependent cases
/// See the define CATCH_DEGENERATE_TETRAHEDRON in Bullet's VoronoiSimplexSolver.cpp
/// See the define CATCH_DEGENERATE_TETRAHEDRON in Bullet's btVoronoiSimplexSolver.cpp
///
///This low-level internal demo does intentionally NOT use the btBulletCollisionCommon.h header
///It needs internal access
#include "GL_Simplex1to4.h"
#include "LinearMath/SimdQuaternion.h"
#include "LinearMath/SimdTransform.h"
#include "LinearMath/btQuaternion.h"
#include "LinearMath/btTransform.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
@@ -35,7 +35,7 @@ subject to the following restrictions:
#include "CollisionDemo.h"
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
#include "LinearMath/GenIDebugDraw.h"
#include "LinearMath/btIDebugDraw.h"
float yaw=0.f,pitch=0.f,roll=0.f;
@@ -44,9 +44,9 @@ const int numObjects = 2;
GL_Simplex1to4 simplex;
PolyhedralConvexShape* shapePtr[maxNumObjects];
btPolyhedralConvexShape* shapePtr[maxNumObjects];
SimdTransform tr[numObjects];
btTransform tr[numObjects];
int screenWidth = 640;
int screenHeight = 480;
@@ -70,22 +70,22 @@ int main(int argc,char** argv)
void CollisionDemo::initPhysics()
{
m_debugMode |= IDebugDraw::DBG_DrawWireframe;
m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
m_azi = 250.f;
m_ele = 25.f;
tr[0].setOrigin(SimdVector3(0.0013328250f,8.1363249f,7.0390840f));
tr[1].setOrigin(SimdVector3(0.00000000f,9.1262732f,2.0343180f));
tr[0].setOrigin(btVector3(0.0013328250f,8.1363249f,7.0390840f));
tr[1].setOrigin(btVector3(0.00000000f,9.1262732f,2.0343180f));
//tr[0].setOrigin(SimdVector3(0,0,0));
//tr[1].setOrigin(SimdVector3(0,10,0));
//tr[0].setOrigin(btVector3(0,0,0));
//tr[1].setOrigin(btVector3(0,10,0));
SimdMatrix3x3 basisA;
btMatrix3x3 basisA;
basisA.setValue(0.99999958f,0.00022980258f,0.00090992288f,
-0.00029313788f,0.99753088f,0.070228584f,
-0.00089153741f,-0.070228823f,0.99753052f);
SimdMatrix3x3 basisB;
btMatrix3x3 basisB;
basisB.setValue(1.0000000f,4.4865553e-018f,-4.4410586e-017f,
4.4865495e-018f,0.97979438f,0.20000751f,
4.4410586e-017f,-0.20000751f,0.97979438f);
@@ -95,11 +95,11 @@ void CollisionDemo::initPhysics()
SimdVector3 boxHalfExtentsA(1.0000004768371582f,1.0000004768371582f,1.0000001192092896f);
SimdVector3 boxHalfExtentsB(3.2836332321166992f,3.2836332321166992f,3.2836320400238037f);
btVector3 boxHalfExtentsA(1.0000004768371582f,1.0000004768371582f,1.0000001192092896f);
btVector3 boxHalfExtentsB(3.2836332321166992f,3.2836332321166992f,3.2836320400238037f);
BoxShape* boxA = new BoxShape(boxHalfExtentsA);
BoxShape* boxB = new BoxShape(boxHalfExtentsB);
btBoxShape* boxA = new btBoxShape(boxHalfExtentsA);
btBoxShape* boxB = new btBoxShape(boxHalfExtentsB);
shapePtr[0] = boxA;
shapePtr[1] = boxB;
@@ -112,8 +112,8 @@ void CollisionDemo::clientMoveAndDisplay()
}
static VoronoiSimplexSolver sGjkSimplexSolver;
SimplexSolverInterface& gGjkSimplexSolver = sGjkSimplexSolver;
static btVoronoiSimplexSolver sGjkSimplexSolver;
btSimplexSolverInterface& gGjkSimplexSolver = sGjkSimplexSolver;
@@ -127,13 +127,13 @@ void CollisionDemo::displayCallback(void) {
float m[16];
int i;
GjkPairDetector convexConvex(shapePtr[0],shapePtr[1],&sGjkSimplexSolver,0);
btGjkPairDetector convexConvex(shapePtr[0],shapePtr[1],&sGjkSimplexSolver,0);
SimdVector3 seperatingAxis(0.00000000f,0.059727669f,0.29259586f);
btVector3 seperatingAxis(0.00000000f,0.059727669f,0.29259586f);
convexConvex.SetCachedSeperatingAxis(seperatingAxis);
PointCollector gjkOutput;
GjkPairDetector::ClosestPointInput input;
btPointCollector gjkOutput;
btGjkPairDetector::ClosestPointInput input;
input.m_transformA = tr[0];
input.m_transformB = tr[1];
@@ -141,7 +141,7 @@ void CollisionDemo::displayCallback(void) {
if (gjkOutput.m_hasResult)
{
SimdVector3 endPt = gjkOutput.m_pointInWorld +
btVector3 endPt = gjkOutput.m_pointInWorld +
gjkOutput.m_normalOnBInWorld*gjkOutput.m_distance;
glBegin(GL_LINES);
@@ -159,26 +159,26 @@ void CollisionDemo::displayCallback(void) {
tr[i].getOpenGLMatrix( m );
GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i],SimdVector3(1,1,1),getDebugMode());
GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode());
}
simplex.SetSimplexSolver(&sGjkSimplexSolver);
SimdPoint3 ybuf[4],pbuf[4],qbuf[4];
btPoint3 ybuf[4],pbuf[4],qbuf[4];
int numpoints = sGjkSimplexSolver.getSimplex(pbuf,qbuf,ybuf);
simplex.Reset();
for (i=0;i<numpoints;i++)
simplex.AddVertex(ybuf[i]);
SimdTransform ident;
btTransform ident;
ident.setIdentity();
ident.getOpenGLMatrix(m);
GL_ShapeDrawer::DrawOpenGL(m,&simplex,SimdVector3(1,1,1),getDebugMode());
GL_ShapeDrawer::DrawOpenGL(m,&simplex,btVector3(1,1,1),getDebugMode());
SimdQuaternion orn;
btQuaternion orn;
orn.setEuler(yaw,pitch,roll);
tr[0].setRotation(orn);