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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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44
Extras/AlgebraicCCD/BU_VertexPoly.cpp
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@@ -17,9 +17,9 @@ subject to the following restrictions:
#include "BU_VertexPoly.h"
#include "BU_Screwing.h"
#include <LinearMath/SimdTransform.h>
#include <LinearMath/SimdPoint3.h>
#include <LinearMath/SimdVector3.h>
#include <LinearMath/btTransform.h>
#include <LinearMath/btPoint3.h>
#include <LinearMath/btVector3.h>
#define USE_ALGEBRAIC
#ifdef USE_ALGEBRAIC
@@ -30,7 +30,7 @@ subject to the following restrictions:
#define BU_Polynomial BU_IntervalArithmeticPolynomialSolver
#endif
inline bool TestFuzzyZero(SimdScalar x) { return SimdFabs(x) < 0.0001f; }
inline bool TestFuzzyZero(btScalar x) { return btFabs(x) < 0.0001f; }
BU_VertexPoly::BU_VertexPoly()
@@ -41,9 +41,9 @@ BU_VertexPoly::BU_VertexPoly()
//false otherwise. If true, minTime contains the time of impact
bool BU_VertexPoly::GetTimeOfImpact(
const BU_Screwing& screwAB,
const SimdPoint3& a,
const SimdVector4& planeEq,
SimdScalar &minTime,bool swapAB)
const btPoint3& a,
const btVector4& planeEq,
btScalar &minTime,bool swapAB)
{
bool hit = false;
@@ -57,21 +57,21 @@ bool BU_VertexPoly::GetTimeOfImpact(
//case w<>0 and s<> 0
const SimdScalar w=screwAB.GetW();
const SimdScalar s=screwAB.GetS();
const btScalar w=screwAB.GetW();
const btScalar s=screwAB.GetS();
SimdScalar coefs[4];
const SimdScalar p=planeEq[0];
const SimdScalar q=planeEq[1];
const SimdScalar r=planeEq[2];
const SimdScalar d=planeEq[3];
btScalar coefs[4];
const btScalar p=planeEq[0];
const btScalar q=planeEq[1];
const btScalar r=planeEq[2];
const btScalar d=planeEq[3];
const SimdVector3 norm(p,q,r);
const btVector3 norm(p,q,r);
BU_Polynomial polynomialSolver;
int numroots = 0;
//SimdScalar eps=1e-80f;
//SimdScalar eps2=1e-100f;
//btScalar eps=1e-80f;
//btScalar eps2=1e-100f;
if (TestFuzzyZero(screwAB.GetS()) )
{
@@ -93,7 +93,7 @@ bool BU_VertexPoly::GetTimeOfImpact(
// W = 0 , S <> 0
//pax+qay+r(az+st)=d
SimdScalar dist = (d - a.dot(norm));
btScalar dist = (d - a.dot(norm));
if (TestFuzzyZero(r))
{
@@ -108,7 +108,7 @@ bool BU_VertexPoly::GetTimeOfImpact(
} else
{
SimdScalar etoi = (dist)/(r*screwAB.GetS());
btScalar etoi = (dist)/(r*screwAB.GetS());
if (swapAB)
etoi *= -1;
@@ -124,7 +124,7 @@ bool BU_VertexPoly::GetTimeOfImpact(
//ax^3+bx^2+cx+d=0
//degenerate coefficients mess things up :(
SimdScalar ietsje = (r*s)/SimdTan(w/2.f);
btScalar ietsje = (r*s)/btTan(w/2.f);
if (ietsje*ietsje < 0.01f)
ietsje = 0.f;
@@ -140,9 +140,9 @@ bool BU_VertexPoly::GetTimeOfImpact(
for (int i=0;i<numroots;i++)
{
SimdScalar tau = polynomialSolver.GetRoot(i);
btScalar tau = polynomialSolver.GetRoot(i);
SimdScalar t = 2.f*SimdAtan(tau)/w;
btScalar t = 2.f*btAtan(tau)/w;
//tau = tan (wt/2) so 2*atan (tau)/w
if (swapAB)
{