Bart/bullet3
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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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16
Demos/ConstraintDemo/ConstraintDemo.cpp
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@@ -17,7 +17,7 @@ subject to the following restrictions:
#include "CcdPhysicsController.h"
#include "MyMotionState.h"
#include "btBulletDynamicsCommon.h"
#include "LinearMath/GenIDebugDraw.h"
#include "LinearMath/btIDebugDraw.h"
#include "GLDebugDrawer.h"
@@ -53,12 +53,12 @@ int main(int argc,char** argv)
void ConstraintDemo::initPhysics()
{
//ConstraintSolver* solver = new SequentialImpulseConstraintSolver;
//ConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
//ConstraintSolver* solver = new OdeConstraintSolver;
CollisionDispatcher* dispatcher = new CollisionDispatcher();
btCollisionDispatcher* dispatcher = new btCollisionDispatcher();
OverlappingPairCache* broadphase = new SimpleBroadphase();
btOverlappingPairCache* broadphase = new btSimpleBroadphase();
m_physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
@@ -66,16 +66,16 @@ void ConstraintDemo::initPhysics()
m_physicsEnvironmentPtr->setGravity(0,-10,0);
CollisionShape* shape = new BoxShape(SimdVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
SimdTransform trans;
btCollisionShape* shape = new btBoxShape(btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
btTransform trans;
trans.setIdentity();
trans.setOrigin(SimdVector3(0,20,0));
trans.setOrigin(btVector3(0,20,0));
bool isDynamic = false;
float mass = 1.f;
CcdPhysicsController* ctrl0 = LocalCreatePhysicsObject( isDynamic,mass,trans,shape);
trans.setOrigin(SimdVector3(2*CUBE_HALF_EXTENTS,20,0));
trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0));
isDynamic = true;
CcdPhysicsController* ctrl1 = LocalCreatePhysicsObject( isDynamic,mass,trans,shape);

2
Demos/ConstraintDemo/ConstraintDemo.h
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@@ -17,7 +17,7 @@ subject to the following restrictions:
#include "DemoApplication.h"
///ConstraintDemo shows how to create a constraint, like Hinge or GenericD6constraint
///ConstraintDemo shows how to create a constraint, like Hinge or btGenericD6constraint
class ConstraintDemo : public DemoApplication
{
public:

6
Demos/ConstraintDemo/MyMotionState.cpp
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@@ -14,7 +14,7 @@ subject to the following restrictions:
*/
#include "MyMotionState.h"
#include "LinearMath/SimdPoint3.h"
#include "LinearMath/btPoint3.h"
MyMotionState::MyMotionState()
{
@@ -51,13 +51,13 @@ void MyMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float& q
void MyMotionState::setWorldPosition(float posX,float posY,float posZ)
{
SimdPoint3 pos(posX,posY,posZ);
btPoint3 pos(posX,posY,posZ);
m_worldTransform.setOrigin( pos );
}
void MyMotionState::setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal)
{
SimdQuaternion orn(quatIma0,quatIma1,quatIma2,quatReal);
btQuaternion orn(quatIma0,quatIma1,quatIma2,quatReal);
m_worldTransform.setRotation( orn );
}

4
Demos/ConstraintDemo/MyMotionState.h
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@@ -17,7 +17,7 @@ subject to the following restrictions:
#define MY_MOTIONSTATE_H
#include "PHY_IMotionState.h"
#include <LinearMath/SimdTransform.h>
#include <LinearMath/btTransform.h>
class MyMotionState : public PHY_IMotionState
@@ -37,7 +37,7 @@ class MyMotionState : public PHY_IMotionState
virtual void calculateWorldTransformations();
SimdTransform m_worldTransform;
btTransform m_worldTransform;
};