Bart/bullet3
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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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26
Extras/EPA/Epa.h
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@@ -21,8 +21,8 @@ subject to the following restrictions:
extern const SimdScalar EPA_MAX_RELATIVE_ERROR;
extern const SimdScalar EPA_MAX_RELATIVE_ERROR_SQRD;
extern const btScalar EPA_MAX_RELATIVE_ERROR;
extern const btScalar EPA_MAX_RELATIVE_ERROR_SQRD;
class Epa
{
@@ -34,30 +34,30 @@ class Epa
public :
Epa( ConvexShape* pConvexShapeA, ConvexShape* pConvexShapeB,
const SimdTransform& transformA, const SimdTransform& transformB );
Epa( btConvexShape* pConvexShapeA, btConvexShape* pConvexShapeB,
const btTransform& transformA, const btTransform& transformB );
~Epa();
bool Initialize( SimplexSolverInterface& simplexSolver );
bool Initialize( btSimplexSolverInterface& simplexSolver );
SimdScalar CalcPenDepth( SimdPoint3& wWitnessOnA, SimdPoint3& wWitnessOnB );
btScalar CalcPenDepth( btPoint3& wWitnessOnA, btPoint3& wWitnessOnB );
private :
bool TetrahedronContainsOrigin( SimdPoint3* pPoints );
bool TetrahedronContainsOrigin( const SimdPoint3& point0, const SimdPoint3& point1,
const SimdPoint3& point2, const SimdPoint3& point3 );
bool TetrahedronContainsOrigin( btPoint3* pPoints );
bool TetrahedronContainsOrigin( const btPoint3& point0, const btPoint3& point1,
const btPoint3& point2, const btPoint3& point3 );
private :
//! Priority queue
std::vector< EpaFace* > m_faceEntries;
ConvexShape* m_pConvexShapeA;
ConvexShape* m_pConvexShapeB;
btConvexShape* m_pConvexShapeA;
btConvexShape* m_pConvexShapeB;
SimdTransform m_transformA;
SimdTransform m_transformB;
btTransform m_transformA;
btTransform m_transformB;
EpaPolyhedron m_polyhedron;
};