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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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70
Demos/GjkConvexCastDemo/LinearConvexCastDemo.cpp
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@@ -21,8 +21,8 @@
///Low level demo, doesn't include btBulletCollisionCommon.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/btBoxShape.h"
#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
@@ -49,9 +49,9 @@ const int maxNumObjects = 4;
const int numObjects = 2;
PolyhedralConvexShape* shapePtr[maxNumObjects];
btPolyhedralConvexShape* shapePtr[maxNumObjects];
SimdTransform tr[numObjects];
btTransform tr[numObjects];
int screenWidth = 640;
int screenHeight = 480;
void DrawRasterizerLine(float const* , float const*, int)
@@ -73,15 +73,15 @@ int main(int argc,char** argv)
void LinearConvexCastDemo::initPhysics()
{
setCameraDistance(30.f);
tr[0].setOrigin(SimdVector3(0,0,0));
tr[1].setOrigin(SimdVector3(0,10,0));
tr[0].setOrigin(btVector3(0,0,0));
tr[1].setOrigin(btVector3(0,10,0));
SimdMatrix3x3 basisA;
btMatrix3x3 basisA;
basisA.setValue(0.99999958f,0.00022980258f,0.00090992288f,
-0.00029313788f,0.99753088f,0.070228584f,
-0.00089153741f,-0.070228823f,0.99753052f);
SimdMatrix3x3 basisB;
btMatrix3x3 basisB;
basisB.setValue(1.0000000f,4.4865553e-018f,-4.4410586e-017f,
4.4865495e-018f,0.97979438f,0.20000751f,
4.4410586e-017f,-0.20000751f,0.97979438f);
@@ -91,25 +91,25 @@ void LinearConvexCastDemo::initPhysics()
SimdVector3 boxHalfExtentsA(0.2,4,4);
SimdVector3 boxHalfExtentsB(6,6,6);
btVector3 boxHalfExtentsA(0.2,4,4);
btVector3 boxHalfExtentsB(6,6,6);
BoxShape* boxA = new BoxShape(boxHalfExtentsA);
/* BU_Simplex1to4 boxB;
boxB.AddVertex(SimdPoint3(-5,0,-5));
boxB.AddVertex(SimdPoint3(5,0,-5));
boxB.AddVertex(SimdPoint3(0,0,5));
boxB.AddVertex(SimdPoint3(0,5,0));
btBoxShape* boxA = new btBoxShape(boxHalfExtentsA);
/* btBU_Simplex1to4 boxB;
boxB.AddVertex(btPoint3(-5,0,-5));
boxB.AddVertex(btPoint3(5,0,-5));
boxB.AddVertex(btPoint3(0,0,5));
boxB.AddVertex(btPoint3(0,5,0));
*/
BoxShape* boxB = new BoxShape(boxHalfExtentsB);
btBoxShape* boxB = new btBoxShape(boxHalfExtentsB);
shapePtr[0] = boxA;
shapePtr[1] = boxB;
shapePtr[0]->SetMargin(0.01f);
shapePtr[1]->SetMargin(0.01f);
SimdTransform tr;
btTransform tr;
tr.setIdentity();
}
@@ -124,9 +124,9 @@ void LinearConvexCastDemo::clientMoveAndDisplay()
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
static VoronoiSimplexSolver sVoronoiSimplexSolver;
static btVoronoiSimplexSolver sVoronoiSimplexSolver;
SimplexSolverInterface& gGjkSimplexSolver = sVoronoiSimplexSolver;
btSimplexSolverInterface& gGjkSimplexSolver = sVoronoiSimplexSolver;
bool drawLine= false;
@@ -145,13 +145,13 @@ void LinearConvexCastDemo::displayCallback(void)
for (i=0;i<numObjects;i++)
{
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());
}
int shapeIndex = 1;
SimdQuaternion orn;
btQuaternion orn;
orn.setEuler(yaw,pitch,roll);
tr[shapeIndex].setRotation(orn);
@@ -163,14 +163,14 @@ void LinearConvexCastDemo::displayCallback(void)
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);
tr[0] = rayFromWorld;
@@ -191,16 +191,16 @@ void LinearConvexCastDemo::displayCallback(void)
for (i=1;i<numObjects;i++)
{
ContinuousConvexCollision convexCaster0(shapePtr[0],shapePtr[i],&gGjkSimplexSolver,0);
GjkConvexCast convexCaster1(shapePtr[0],shapePtr[i],&gGjkSimplexSolver);
btContinuousConvexCollision convexCaster0(shapePtr[0],shapePtr[i],&gGjkSimplexSolver,0);
btGjkConvexCast convexCaster1(shapePtr[0],shapePtr[i],&gGjkSimplexSolver);
//BU_CollisionPair (algebraic version) is currently broken, will look into this
//BU_CollisionPair convexCaster2(shapePtr[0],shapePtr[i]);
SubsimplexConvexCast convexCaster3(shapePtr[0],shapePtr[i],&gGjkSimplexSolver);
btSubsimplexConvexCast convexCaster3(shapePtr[0],shapePtr[i],&gGjkSimplexSolver);
gGjkSimplexSolver.reset();
ConvexCast::CastResult rayResult;
btConvexCast::CastResult rayResult;
@@ -208,7 +208,7 @@ void LinearConvexCastDemo::displayCallback(void)
{
glDisable(GL_DEPTH_TEST);
SimdVector3 hitPoint;
btVector3 hitPoint;
hitPoint.setInterpolate3(rayFromWorld.getOrigin(),rayToWorld.getOrigin(),rayResult.m_fraction);
//draw the raycast result
@@ -219,12 +219,12 @@ void LinearConvexCastDemo::displayCallback(void)
glEnd();
glEnable(GL_DEPTH_TEST);
SimdTransform toTransWorld;
btTransform toTransWorld;
toTransWorld = tr[0];
toTransWorld.setOrigin(hitPoint);
toTransWorld.getOpenGLMatrix( m );
GL_ShapeDrawer::DrawOpenGL(m,shapePtr[0],SimdVector3(0,1,1),getDebugMode());
GL_ShapeDrawer::DrawOpenGL(m,shapePtr[0],btVector3(0,1,1),getDebugMode());
}