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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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36
Extras/AlternativeCollisionAlgorithms/SphereSphereCollisionAlgorithm.cpp
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@@ -13,13 +13,13 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#include "SphereSphereCollisionAlgorithm.h"
#include "btSphereSphereCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
SphereSphereCollisionAlgorithm::SphereSphereCollisionAlgorithm(PersistentManifold* mf,const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
: CollisionAlgorithm(ci),
btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
: btCollisionAlgorithm(ci),
m_ownManifold(false),
m_manifoldPtr(mf)
{
@@ -30,7 +30,7 @@ m_manifoldPtr(mf)
}
}
SphereSphereCollisionAlgorithm::~SphereSphereCollisionAlgorithm()
btSphereSphereCollisionAlgorithm::~btSphereSphereCollisionAlgorithm()
{
if (m_ownManifold)
{
@@ -39,42 +39,42 @@ SphereSphereCollisionAlgorithm::~SphereSphereCollisionAlgorithm()
}
}
void SphereSphereCollisionAlgorithm::ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo)
void btSphereSphereCollisionAlgorithm::ProcessCollision (btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,const btDispatcherInfo& dispatchInfo)
{
if (!m_manifoldPtr)
return;
CollisionObject* col0 = static_cast<CollisionObject*>(proxy0->m_clientObject);
CollisionObject* col1 = static_cast<CollisionObject*>(proxy1->m_clientObject);
SphereShape* sphere0 = (SphereShape*)col0->m_collisionShape;
SphereShape* sphere1 = (SphereShape*)col1->m_collisionShape;
btCollisionObject* col0 = static_cast<btCollisionObject*>(proxy0->m_clientObject);
btCollisionObject* col1 = static_cast<btCollisionObject*>(proxy1->m_clientObject);
btSphereShape* sphere0 = (btSphereShape*)col0->m_collisionShape;
btSphereShape* sphere1 = (btSphereShape*)col1->m_collisionShape;
SimdVector3 diff = col0->m_worldTransform.getOrigin()- col1->m_worldTransform.getOrigin();
btVector3 diff = col0->m_worldTransform.getOrigin()- col1->m_worldTransform.getOrigin();
float len = diff.length();
SimdScalar radius0 = sphere0->GetRadius();
SimdScalar radius1 = sphere1->GetRadius();
btScalar radius0 = sphere0->GetRadius();
btScalar radius1 = sphere1->GetRadius();
///iff distance positive, don't generate a new contact
if ( len > (radius0+radius1))
return;
///distance (negative means penetration)
SimdScalar dist = len - (radius0+radius1);
btScalar dist = len - (radius0+radius1);
SimdVector3 normalOnSurfaceB = diff / len;
btVector3 normalOnSurfaceB = diff / len;
///point on A (worldspace)
SimdVector3 pos0 = col0->m_worldTransform.getOrigin() - radius0 * normalOnSurfaceB;
btVector3 pos0 = col0->m_worldTransform.getOrigin() - radius0 * normalOnSurfaceB;
///point on B (worldspace)
SimdVector3 pos1 = col1->m_worldTransform.getOrigin() + radius1* normalOnSurfaceB;
btVector3 pos1 = col1->m_worldTransform.getOrigin() + radius1* normalOnSurfaceB;
/// report a contact. internally this will be kept persistent, and contact reduction is done
ManifoldResult* resultOut = m_dispatcher->GetNewManifoldResult(col0,col1,m_manifoldPtr);
btManifoldResult* resultOut = m_dispatcher->GetNewManifoldResult(col0,col1,m_manifoldPtr);
resultOut->AddContactPoint(normalOnSurfaceB,pos1,dist);
m_dispatcher->ReleaseManifoldResult(resultOut);
}
float SphereSphereCollisionAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo)
float btSphereSphereCollisionAlgorithm::CalculateTimeOfImpact(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,const btDispatcherInfo& dispatchInfo)
{
//not yet
return 1.f;