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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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42
Extras/AlgebraicCCD/BU_Screwing.h
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@@ -18,9 +18,9 @@ subject to the following restrictions:
#define B_SCREWING_H
#include <LinearMath/SimdVector3.h>
#include <LinearMath/SimdPoint3.h>
#include <LinearMath/SimdTransform.h>
#include <LinearMath/btVector3.h>
#include <LinearMath/btPoint3.h>
#include <LinearMath/btTransform.h>
#define SCREWEPSILON 0.00001f
@@ -31,47 +31,47 @@ class BU_Screwing
public:
BU_Screwing(const SimdVector3& relLinVel,const SimdVector3& relAngVel);
BU_Screwing(const btVector3& relLinVel,const btVector3& relAngVel);
~BU_Screwing() {
};
SimdScalar CalculateF(SimdScalar t) const;
btScalar CalculateF(btScalar t) const;
//gives interpolated position for time in [0..1] in screwing frame
inline SimdPoint3 InBetweenPosition(const SimdPoint3& pt,SimdScalar t) const
inline btPoint3 InBetweenPosition(const btPoint3& pt,btScalar t) const
{
return SimdPoint3(
pt.x()*SimdCos(m_w*t)-pt.y()*SimdSin(m_w*t),
pt.x()*SimdSin(m_w*t)+pt.y()*SimdCos(m_w*t),
return btPoint3(
pt.x()*btCos(m_w*t)-pt.y()*btSin(m_w*t),
pt.x()*btSin(m_w*t)+pt.y()*btCos(m_w*t),
pt.z()+m_s*CalculateF(t));
}
inline SimdVector3 InBetweenVector(const SimdVector3& vec,SimdScalar t) const
inline btVector3 InBetweenVector(const btVector3& vec,btScalar t) const
{
return SimdVector3(
vec.x()*SimdCos(m_w*t)-vec.y()*SimdSin(m_w*t),
vec.x()*SimdSin(m_w*t)+vec.y()*SimdCos(m_w*t),
return btVector3(
vec.x()*btCos(m_w*t)-vec.y()*btSin(m_w*t),
vec.x()*btSin(m_w*t)+vec.y()*btCos(m_w*t),
vec.z());
}
//gives interpolated transform for time in [0..1] in screwing frame
SimdTransform InBetweenTransform(const SimdTransform& tr,SimdScalar t) const;
btTransform InBetweenTransform(const btTransform& tr,btScalar t) const;
//gives matrix from global frame into screwing frame
void LocalMatrix(SimdTransform &t) const;
void LocalMatrix(btTransform &t) const;
inline const SimdVector3& GetU() const { return m_u;}
inline const SimdVector3& GetO() const {return m_o;}
inline const SimdScalar GetS() const{ return m_s;}
inline const SimdScalar GetW() const { return m_w;}
inline const btVector3& GetU() const { return m_u;}
inline const btVector3& GetO() const {return m_o;}
inline const btScalar GetS() const{ return m_s;}
inline const btScalar GetW() const { return m_w;}
private:
float m_w;
float m_s;
SimdVector3 m_u;
SimdVector3 m_o;
btVector3 m_u;
btVector3 m_o;
};
#endif //B_SCREWING_H