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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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60
Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
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@@ -21,8 +21,8 @@ subject to the following restrictions:
#include "CcdPhysicsController.h"
#include "btBulletDynamicsCommon.h"
#include "LinearMath/GenQuickprof.h"
#include "LinearMath/GenIDebugDraw.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btIDebugDraw.h"
#include "GLDebugDrawer.h"
@@ -42,11 +42,11 @@ const int maxNumObjects = 450;
int shapeIndex[maxNumObjects];
SimdVector3 centroid;
btVector3 centroid;
#define CUBE_HALF_EXTENTS 4
CollisionShape* shapePtr[maxNumObjects];
btCollisionShape* shapePtr[maxNumObjects];
@@ -81,25 +81,25 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
tcount = wo.loadObj(filename);
CollisionDispatcher* dispatcher = new CollisionDispatcher();
btCollisionDispatcher* dispatcher = new btCollisionDispatcher();
SimdVector3 worldAabbMin(-10000,-10000,-10000);
SimdVector3 worldAabbMax(10000,10000,10000);
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
OverlappingPairCache* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax);
//OverlappingPairCache* broadphase = new SimpleBroadphase();
btOverlappingPairCache* broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax);
//OverlappingPairCache* broadphase = new btSimpleBroadphase();
m_physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
m_physicsEnvironmentPtr->setDeactivationTime(2.f);
m_physicsEnvironmentPtr->setGravity(0,-10,0);
SimdTransform startTransform;
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(SimdVector3(0,-4,0));
startTransform.setOrigin(btVector3(0,-4,0));
LocalCreatePhysicsObject(false,0,startTransform,new BoxShape(SimdVector3(30,2,30)));
LocalCreatePhysicsObject(false,0,startTransform,new btBoxShape(btVector3(30,2,30)));
class MyConvexDecomposition : public ConvexDecomposition::ConvexDecompInterface
{
@@ -119,9 +119,9 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
{
TriangleMesh* trimesh = new TriangleMesh();
btTriangleMesh* trimesh = new btTriangleMesh();
SimdVector3 localScaling(6.f,6.f,6.f);
btVector3 localScaling(6.f,6.f,6.f);
//export data to .obj
printf("ConvexResult\n");
@@ -148,9 +148,9 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
unsigned int index0 = *src++;
unsigned int index1 = *src++;
unsigned int index2 = *src++;
SimdVector3 vertex0(result.mHullVertices[index0*3], result.mHullVertices[index0*3+1],result.mHullVertices[index0*3+2]);
SimdVector3 vertex1(result.mHullVertices[index1*3], result.mHullVertices[index1*3+1],result.mHullVertices[index1*3+2]);
SimdVector3 vertex2(result.mHullVertices[index2*3], result.mHullVertices[index2*3+1],result.mHullVertices[index2*3+2]);
btVector3 vertex0(result.mHullVertices[index0*3], result.mHullVertices[index0*3+1],result.mHullVertices[index0*3+2]);
btVector3 vertex1(result.mHullVertices[index1*3], result.mHullVertices[index1*3+1],result.mHullVertices[index1*3+2]);
btVector3 vertex2(result.mHullVertices[index2*3], result.mHullVertices[index2*3+1],result.mHullVertices[index2*3+2]);
vertex0 *= localScaling;
vertex1 *= localScaling;
vertex2 *= localScaling;
@@ -173,9 +173,9 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
unsigned int index2 = *src++;
SimdVector3 vertex0(result.mHullVertices[index0*3], result.mHullVertices[index0*3+1],result.mHullVertices[index0*3+2]);
SimdVector3 vertex1(result.mHullVertices[index1*3], result.mHullVertices[index1*3+1],result.mHullVertices[index1*3+2]);
SimdVector3 vertex2(result.mHullVertices[index2*3], result.mHullVertices[index2*3+1],result.mHullVertices[index2*3+2]);
btVector3 vertex0(result.mHullVertices[index0*3], result.mHullVertices[index0*3+1],result.mHullVertices[index0*3+2]);
btVector3 vertex1(result.mHullVertices[index1*3], result.mHullVertices[index1*3+1],result.mHullVertices[index1*3+2]);
btVector3 vertex2(result.mHullVertices[index2*3], result.mHullVertices[index2*3+1],result.mHullVertices[index2*3+2]);
vertex0 *= localScaling;
vertex1 *= localScaling;
vertex2 *= localScaling;
@@ -196,8 +196,8 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
bool isDynamic = true;
float mass = 1.f;
CollisionShape* convexShape = new ConvexTriangleMeshShape(trimesh);
SimdTransform trans;
btCollisionShape* convexShape = new btConvexTriangleMeshShape(trimesh);
btTransform trans;
trans.setIdentity();
trans.setOrigin(centroid);
m_convexDemo->LocalCreatePhysicsObject(isDynamic, mass, trans,convexShape);
@@ -216,9 +216,9 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
if (tcount)
{
TriangleMesh* trimesh = new TriangleMesh();
btTriangleMesh* trimesh = new btTriangleMesh();
SimdVector3 localScaling(6.f,6.f,6.f);
btVector3 localScaling(6.f,6.f,6.f);
for (int i=0;i<wo.mTriCount;i++)
{
@@ -226,9 +226,9 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
int index1 = wo.mIndices[i*3+1];
int index2 = wo.mIndices[i*3+2];
SimdVector3 vertex0(wo.mVertices[index0*3], wo.mVertices[index0*3+1],wo.mVertices[index0*3+2]);
SimdVector3 vertex1(wo.mVertices[index1*3], wo.mVertices[index1*3+1],wo.mVertices[index1*3+2]);
SimdVector3 vertex2(wo.mVertices[index2*3], wo.mVertices[index2*3+1],wo.mVertices[index2*3+2]);
btVector3 vertex0(wo.mVertices[index0*3], wo.mVertices[index0*3+1],wo.mVertices[index0*3+2]);
btVector3 vertex1(wo.mVertices[index1*3], wo.mVertices[index1*3+1],wo.mVertices[index1*3+2]);
btVector3 vertex2(wo.mVertices[index2*3], wo.mVertices[index2*3+1],wo.mVertices[index2*3+2]);
vertex0 *= localScaling;
vertex1 *= localScaling;
@@ -237,13 +237,13 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
trimesh->AddTriangle(vertex0,vertex1,vertex2);
}
CollisionShape* convexShape = new ConvexTriangleMeshShape(trimesh);
btCollisionShape* convexShape = new btConvexTriangleMeshShape(trimesh);
bool isDynamic = true;
float mass = 1.f;
SimdTransform startTransform;
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(SimdVector3(20,2,0));
startTransform.setOrigin(btVector3(20,2,0));
LocalCreatePhysicsObject(isDynamic, mass, startTransform,convexShape);