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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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52
Demos/ConvexHullDistance/ConvexHullDistanceDemo.cpp
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@@ -16,12 +16,12 @@ subject to the following restrictions:
///
/// Convex Hull Distance Demo shows distance calculation between two convex hulls of points.
/// GJK with the VoronoiSimplexSolver is used.
/// GJK with the btVoronoiSimplexSolver is used.
///
#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/btConvexHullShape.h"
@@ -51,9 +51,9 @@ const int numObjects = 2;
GL_Simplex1to4 simplex;
PolyhedralConvexShape* shapePtr[maxNumObjects];
btPolyhedralConvexShape* shapePtr[maxNumObjects];
SimdTransform tr[numObjects];
btTransform tr[numObjects];
int screenWidth = 640.f;
int screenHeight = 480.f;
@@ -62,26 +62,26 @@ int main(int argc,char** argv)
{
clientResetScene();
SimdMatrix3x3 basisA;
btMatrix3x3 basisA;
basisA.setIdentity();
SimdMatrix3x3 basisB;
btMatrix3x3 basisB;
basisB.setIdentity();
tr[0].setBasis(basisA);
tr[1].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)};
ConvexHullShape hullA(points0,3);
ConvexHullShape hullB(points1,5);
btConvexHullShape hullA(points0,3);
btConvexHullShape hullB(points1,5);
shapePtr[0] = &hullA;
shapePtr[1] = &hullB;
SimdTransform tr;
btTransform tr;
tr.setIdentity();
@@ -97,8 +97,8 @@ void clientMoveAndDisplay()
}
static VoronoiSimplexSolver sGjkSimplexSolver;
SimplexSolverInterface& gGjkSimplexSolver = sGjkSimplexSolver;
static btVoronoiSimplexSolver sGjkSimplexSolver;
btSimplexSolverInterface& gGjkSimplexSolver = sGjkSimplexSolver;
@@ -112,13 +112,13 @@ void clientDisplay(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];
@@ -126,7 +126,7 @@ void clientDisplay(void) {
if (gjkOutput.m_hasResult)
{
SimdVector3 endPt = gjkOutput.m_pointInWorld +
btVector3 endPt = gjkOutput.m_pointInWorld +
gjkOutput.m_normalOnBInWorld*gjkOutput.m_distance;
glBegin(GL_LINES);
@@ -142,26 +142,26 @@ void clientDisplay(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);
tr[1].setRotation(orn);
@@ -175,8 +175,8 @@ void clientDisplay(void) {
void clientResetScene()
{
tr[0].setOrigin(SimdVector3(0.0f,3.f,7.f));
tr[1].setOrigin(SimdVector3(0.0f,9.f,2.f));
tr[0].setOrigin(btVector3(0.0f,3.f,7.f));
tr[1].setOrigin(btVector3(0.0f,9.f,2.f));
}
void clientKeyboard(unsigned char key, int x, int y)