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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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62
Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp
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@@ -23,7 +23,7 @@ subject to the following restrictions:
//include common Bullet Collision Detection headerfiles
#include "btBulletCollisionCommon.h"
#include "LinearMath/GenIDebugDraw.h"
#include "LinearMath/btIDebugDraw.h"
#include "GL_ShapeDrawer.h"
#include "CollisionInterfaceDemo.h"
#include "GlutStuff.h"
@@ -36,8 +36,8 @@ const int numObjects = 2;
GL_Simplex1to4 simplex;
CollisionObject objects[maxNumObjects];
CollisionWorld* collisionWorld = 0;
btCollisionObject objects[maxNumObjects];
btCollisionWorld* collisionWorld = 0;
int screenWidth = 640;
int screenHeight = 480;
@@ -57,40 +57,40 @@ int main(int argc,char** argv)
void CollisionInterfaceDemo::initPhysics()
{
m_debugMode |= IDebugDraw::DBG_DrawWireframe;
m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
SimdMatrix3x3 basisA;
btMatrix3x3 basisA;
basisA.setIdentity();
SimdMatrix3x3 basisB;
btMatrix3x3 basisB;
basisB.setIdentity();
objects[0].m_worldTransform.setBasis(basisA);
objects[1].m_worldTransform.setBasis(basisB);
//SimdPoint3 points0[3]={SimdPoint3(1,0,0),SimdPoint3(0,1,0),SimdPoint3(0,0,1)};
//SimdPoint3 points1[5]={SimdPoint3(1,0,0),SimdPoint3(0,1,0),SimdPoint3(0,0,1),SimdPoint3(0,0,-1),SimdPoint3(-1,-1,0)};
//btPoint3 points0[3]={btPoint3(1,0,0),btPoint3(0,1,0),btPoint3(0,0,1)};
//btPoint3 points1[5]={btPoint3(1,0,0),btPoint3(0,1,0),btPoint3(0,0,1),btPoint3(0,0,-1),btPoint3(-1,-1,0)};
BoxShape* boxA = new BoxShape(SimdVector3(1,1,1));
BoxShape* boxB = new BoxShape(SimdVector3(0.5,0.5,0.5));
btBoxShape* boxA = new btBoxShape(btVector3(1,1,1));
btBoxShape* boxB = new btBoxShape(btVector3(0.5,0.5,0.5));
//ConvexHullShape hullA(points0,3);
//hullA.setLocalScaling(SimdVector3(3,3,3));
//hullA.setLocalScaling(btVector3(3,3,3));
//ConvexHullShape hullB(points1,4);
//hullB.setLocalScaling(SimdVector3(4,4,4));
//hullB.setLocalScaling(btVector3(4,4,4));
objects[0].m_collisionShape = boxA;//&hullA;
objects[1].m_collisionShape = boxB;//&hullB;
CollisionDispatcher* dispatcher = new CollisionDispatcher;
SimdVector3 worldAabbMin(-1000,-1000,-1000);
SimdVector3 worldAabbMax(1000,1000,1000);
btCollisionDispatcher* dispatcher = new btCollisionDispatcher;
btVector3 worldAabbMin(-1000,-1000,-1000);
btVector3 worldAabbMax(1000,1000,1000);
AxisSweep3* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax);
btAxisSweep3* broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax);
//SimpleBroadphase is a brute force alternative, performing N^2 aabb overlap tests
//SimpleBroadphase* broadphase = new SimpleBroadphase;
//SimpleBroadphase* broadphase = new btSimpleBroadphase;
collisionWorld = new CollisionWorld(dispatcher,broadphase);
collisionWorld = new btCollisionWorld(dispatcher,broadphase);
collisionWorld->AddCollisionObject(&objects[0]);
collisionWorld->AddCollisionObject(&objects[1]);
@@ -107,8 +107,8 @@ void CollisionInterfaceDemo::clientMoveAndDisplay()
}
static VoronoiSimplexSolver sGjkSimplexSolver;
SimplexSolverInterface& gGjkSimplexSolver = sGjkSimplexSolver;
static btVoronoiSimplexSolver sGjkSimplexSolver;
btSimplexSolverInterface& gGjkSimplexSolver = sGjkSimplexSolver;
@@ -127,21 +127,21 @@ void CollisionInterfaceDemo::displayCallback(void) {
int numManifolds = collisionWorld->GetDispatcher()->GetNumManifolds();
for (i=0;i<numManifolds;i++)
{
PersistentManifold* contactManifold = collisionWorld->GetDispatcher()->GetManifoldByIndexInternal(i);
CollisionObject* obA = static_cast<CollisionObject*>(contactManifold->GetBody0());
CollisionObject* obB = static_cast<CollisionObject*>(contactManifold->GetBody1());
btPersistentManifold* contactManifold = collisionWorld->GetDispatcher()->GetManifoldByIndexInternal(i);
btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->GetBody0());
btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->GetBody1());
contactManifold->RefreshContactPoints(obA->m_worldTransform,obB->m_worldTransform);
int numContacts = contactManifold->GetNumContacts();
for (int j=0;j<numContacts;j++)
{
ManifoldPoint& pt = contactManifold->GetContactPoint(j);
btManifoldPoint& pt = contactManifold->GetContactPoint(j);
glBegin(GL_LINES);
glColor3f(1, 0, 1);
SimdVector3 ptA = pt.GetPositionWorldOnA();
SimdVector3 ptB = pt.GetPositionWorldOnB();
btVector3 ptA = pt.GetPositionWorldOnA();
btVector3 ptB = pt.GetPositionWorldOnB();
glVertex3d(ptA.x(),ptA.y(),ptA.z());
glVertex3d(ptB.x(),ptB.y(),ptB.z());
@@ -162,14 +162,14 @@ void CollisionInterfaceDemo::displayCallback(void) {
{
objects[i].m_worldTransform.getOpenGLMatrix( m );
GL_ShapeDrawer::DrawOpenGL(m,objects[i].m_collisionShape,SimdVector3(1,1,1),getDebugMode());
GL_ShapeDrawer::DrawOpenGL(m,objects[i].m_collisionShape,btVector3(1,1,1),getDebugMode());
}
SimdQuaternion orn;
btQuaternion orn;
orn.setEuler(yaw,pitch,roll);
objects[1].m_worldTransform.setOrigin(objects[1].m_worldTransform.getOrigin()+SimdVector3(0,-0.01,0));
objects[1].m_worldTransform.setOrigin(objects[1].m_worldTransform.getOrigin()+btVector3(0,-0.01,0));
objects[0].m_worldTransform.setRotation(orn);
@@ -182,8 +182,8 @@ void CollisionInterfaceDemo::displayCallback(void) {
void CollisionInterfaceDemo::clientResetScene()
{
objects[0].m_worldTransform.setOrigin(SimdVector3(0.0f,3.f,0.f));
objects[1].m_worldTransform.setOrigin(SimdVector3(0.0f,9.f,0.f));
objects[0].m_worldTransform.setOrigin(btVector3(0.0f,3.f,0.f));
objects[1].m_worldTransform.setOrigin(btVector3(0.0f,9.f,0.f));
}