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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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2
Demos/ContinuousConvexCollision/ContinuousConvexCollision.h
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@@ -18,7 +18,7 @@ subject to the following restrictions:
#include "DemoApplication.h"
///ContinuousConvexCollisionDemo shows the working of the continuous collision detection, including linear and angular motion
class ContinuousConvexCollisionDemo : public DemoApplication
class btContinuousConvexCollisionDemo : public DemoApplication
{
public:

110
Demos/ContinuousConvexCollision/ContinuousConvexCollisionDemo.cpp
View File

@@ -20,8 +20,8 @@
///This low level demo need internal access, and intentionally doesn't include the btBulletCollisionCommon.h headerfile
#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/CollisionShapes/btMinkowskiSumShape.h"
@@ -31,7 +31,7 @@
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
#include "LinearMath/SimdTransformUtil.h"
#include "LinearMath/btTransformUtil.h"
#include "DebugCastResult.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
@@ -50,14 +50,14 @@ float yaw=0.f,pitch=0.f,roll=0.f;
const int maxNumObjects = 4;
const int numObjects = 2;
SimdVector3 angVels[numObjects];
SimdVector3 linVels[numObjects];
btVector3 angVels[numObjects];
btVector3 linVels[numObjects];
PolyhedralConvexShape* shapePtr[maxNumObjects];
btPolyhedralConvexShape* shapePtr[maxNumObjects];
SimdTransform fromTrans[maxNumObjects];
SimdTransform toTrans[maxNumObjects];
btTransform fromTrans[maxNumObjects];
btTransform toTrans[maxNumObjects];
int screenWidth = 640;
@@ -66,7 +66,7 @@ int screenHeight = 480;
int main(int argc,char** argv)
{
ContinuousConvexCollisionDemo* ccdDemo = new ContinuousConvexCollisionDemo();
btContinuousConvexCollisionDemo* ccdDemo = new btContinuousConvexCollisionDemo();
ccdDemo->setCameraDistance(40.f);
@@ -75,17 +75,17 @@ int main(int argc,char** argv)
return glutmain(argc, argv,screenWidth,screenHeight,"Continuous Convex Collision Demo",ccdDemo);
}
void ContinuousConvexCollisionDemo::initPhysics()
void btContinuousConvexCollisionDemo::initPhysics()
{
fromTrans[0].setOrigin(SimdVector3(0,10,20));
toTrans[0].setOrigin(SimdVector3(0,10,-20));
fromTrans[1].setOrigin(SimdVector3(-2,7,0));
toTrans[1].setOrigin(SimdVector3(-2,10,0));
fromTrans[0].setOrigin(btVector3(0,10,20));
toTrans[0].setOrigin(btVector3(0,10,-20));
fromTrans[1].setOrigin(btVector3(-2,7,0));
toTrans[1].setOrigin(btVector3(-2,10,0));
SimdMatrix3x3 identBasis;
btMatrix3x3 identBasis;
identBasis.setIdentity();
SimdMatrix3x3 basisA;
btMatrix3x3 basisA;
basisA.setIdentity();
basisA.setEulerZYX(0.f,-SIMD_HALF_PI,0.f);
@@ -96,15 +96,15 @@ void ContinuousConvexCollisionDemo::initPhysics()
toTrans[1].setBasis(identBasis);
toTrans[1].setBasis(identBasis);
SimdVector3 boxHalfExtentsA(10,1,1);
SimdVector3 boxHalfExtentsB(1.1f,1.1f,1.1f);
BoxShape* boxA = new BoxShape(boxHalfExtentsA);
// BU_Simplex1to4* boxA = new BU_Simplex1to4(SimdPoint3(-2,0,-2),SimdPoint3(2,0,-2),SimdPoint3(0,0,2),SimdPoint3(0,2,0));
// BU_Simplex1to4* boxA = new BU_Simplex1to4(SimdPoint3(-12,0,0),SimdPoint3(12,0,0));
btVector3 boxHalfExtentsA(10,1,1);
btVector3 boxHalfExtentsB(1.1f,1.1f,1.1f);
btBoxShape* boxA = new btBoxShape(boxHalfExtentsA);
// btBU_Simplex1to4* boxA = new btBU_Simplex1to4(btPoint3(-2,0,-2),btPoint3(2,0,-2),btPoint3(0,0,2),btPoint3(0,2,0));
// btBU_Simplex1to4* boxA = new btBU_Simplex1to4(btPoint3(-12,0,0),btPoint3(12,0,0));
BoxShape* boxB = new BoxShape(boxHalfExtentsB);
// BU_Simplex1to4 boxB(SimdPoint3(0,10,0),SimdPoint3(0,-10,0));
btBoxShape* boxB = new btBoxShape(boxHalfExtentsB);
// btBU_Simplex1to4 boxB(btPoint3(0,10,0),btPoint3(0,-10,0));
shapePtr[0] = boxA;
@@ -115,22 +115,22 @@ void ContinuousConvexCollisionDemo::initPhysics()
for (int i=0;i<numObjects;i++)
{
SimdTransformUtil::CalculateVelocity(fromTrans[i],toTrans[i],1.f,linVels[i],angVels[i]);
btTransformUtil::CalculateVelocity(fromTrans[i],toTrans[i],1.f,linVels[i],angVels[i]);
}
}
//to be implemented by the demo
void ContinuousConvexCollisionDemo::clientMoveAndDisplay()
void btContinuousConvexCollisionDemo::clientMoveAndDisplay()
{
displayCallback();
}
static VoronoiSimplexSolver sVoronoiSimplexSolver;
static btVoronoiSimplexSolver sVoronoiSimplexSolver;
SimplexSolverInterface& gGjkSimplexSolver = sVoronoiSimplexSolver;
btSimplexSolverInterface& gGjkSimplexSolver = sVoronoiSimplexSolver;
bool drawLine= false;
@@ -139,7 +139,7 @@ int minlines = 0;
int maxlines = 512;
void ContinuousConvexCollisionDemo::displayCallback(void) {
void btContinuousConvexCollisionDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glDisable(GL_LIGHTING);
@@ -156,7 +156,7 @@ void ContinuousConvexCollisionDemo::displayCallback(void) {
}
*/
if (getDebugMode()==IDebugDraw::DBG_DrawAabb)
if (getDebugMode()==btIDebugDraw::DBG_DrawAabb)
{
i=0;//for (i=1;i<numObjects;i++)
{
@@ -165,10 +165,10 @@ void ContinuousConvexCollisionDemo::displayCallback(void) {
int numSubSteps = 10;
for (int s=0;s<10;s++)
{
SimdScalar subStep = s * 1.f/(float)numSubSteps;
SimdTransform interpolatedTrans;
btScalar subStep = s * 1.f/(float)numSubSteps;
btTransform interpolatedTrans;
SimdTransformUtil::IntegrateTransform(fromTrans[i],linVels[i],angVels[i],subStep,interpolatedTrans);
btTransformUtil::IntegrateTransform(fromTrans[i],linVels[i],angVels[i],subStep,interpolatedTrans);
//fromTrans[i].getOpenGLMatrix(m);
//GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i]);
@@ -177,15 +177,15 @@ void ContinuousConvexCollisionDemo::displayCallback(void) {
//GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i]);
interpolatedTrans.getOpenGLMatrix( m );
GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i],SimdVector3(1,0,1),getDebugMode());
GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i],btVector3(1,0,1),getDebugMode());
}
}
}
SimdMatrix3x3 mat;
btMatrix3x3 mat;
mat.setEulerZYX(yaw,pitch,roll);
SimdQuaternion orn;
btQuaternion orn;
mat.getRotation(orn);
orn.setEuler(yaw,pitch,roll);
fromTrans[1].setRotation(orn);
@@ -198,17 +198,17 @@ void ContinuousConvexCollisionDemo::displayCallback(void) {
pitch += 0.005f;
// yaw += 0.01f;
}
// SimdVector3 fromA(-25,11,0);
// SimdVector3 toA(-15,11,0);
// btVector3 fromA(-25,11,0);
// btVector3 toA(-15,11,0);
// SimdQuaternion ornFromA(0.f,0.f,0.f,1.f);
// SimdQuaternion ornToA(0.f,0.f,0.f,1.f);
// btQuaternion ornFromA(0.f,0.f,0.f,1.f);
// btQuaternion ornToA(0.f,0.f,0.f,1.f);
// SimdTransform rayFromWorld(ornFromA,fromA);
// SimdTransform rayToWorld(ornToA,toA);
// btTransform rayFromWorld(ornFromA,fromA);
// btTransform rayToWorld(ornToA,toA);
SimdTransform rayFromWorld = fromTrans[0];
SimdTransform rayToWorld = toTrans[0];
btTransform rayFromWorld = fromTrans[0];
btTransform rayToWorld = toTrans[0];
if (drawLine)
@@ -229,17 +229,17 @@ void ContinuousConvexCollisionDemo::displayCallback(void) {
for (i=0;i<numObjects;i++)
{
fromTrans[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());
}
DebugCastResult rayResult1(fromTrans[0],shapePtr[0],linVels[0],angVels[0]);
btDebugCastResult rayResult1(fromTrans[0],shapePtr[0],linVels[0],angVels[0]);
for (i=1;i<numObjects;i++)
{
ConvexCast::CastResult rayResult2;
ConvexCast::CastResult* rayResultPtr;
if (IDebugDraw::DBG_DrawAabb)
btConvexCast::CastResult rayResult2;
btConvexCast::CastResult* rayResultPtr;
if (btIDebugDraw::DBG_DrawAabb)
{
rayResultPtr = &rayResult1;
} else
@@ -251,8 +251,8 @@ void ContinuousConvexCollisionDemo::displayCallback(void) {
//SubsimplexConvexCast convexCaster(&gGjkSimplexSolver);
//optional
ConvexPenetrationDepthSolver* penetrationDepthSolver = 0;
ContinuousConvexCollision convexCaster(shapePtr[0],shapePtr[i],&gGjkSimplexSolver,penetrationDepthSolver );
btConvexPenetrationDepthSolver* penetrationDepthSolver = 0;
btContinuousConvexCollision convexCaster(shapePtr[0],shapePtr[i],&gGjkSimplexSolver,penetrationDepthSolver );
gGjkSimplexSolver.reset();
@@ -263,16 +263,16 @@ void ContinuousConvexCollisionDemo::displayCallback(void) {
glDisable(GL_DEPTH_TEST);
SimdTransform hitTrans;
SimdTransformUtil::IntegrateTransform(fromTrans[0],linVels[0],angVels[0],rayResultPtr->m_fraction,hitTrans);
btTransform hitTrans;
btTransformUtil::IntegrateTransform(fromTrans[0],linVels[0],angVels[0],rayResultPtr->m_fraction,hitTrans);
hitTrans.getOpenGLMatrix(m);
GL_ShapeDrawer::DrawOpenGL(m,shapePtr[0],SimdVector3(0,1,0),getDebugMode());
GL_ShapeDrawer::DrawOpenGL(m,shapePtr[0],btVector3(0,1,0),getDebugMode());
SimdTransformUtil::IntegrateTransform(fromTrans[i],linVels[i],angVels[i],rayResultPtr->m_fraction,hitTrans);
btTransformUtil::IntegrateTransform(fromTrans[i],linVels[i],angVels[i],rayResultPtr->m_fraction,hitTrans);
hitTrans.getOpenGLMatrix(m);
GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i],SimdVector3(0,1,1),getDebugMode());
GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i],btVector3(0,1,1),getDebugMode());
}