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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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74
Extras/EPA/EpaPenetrationDepthSolver.cpp
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@@ -14,11 +14,11 @@ subject to the following restrictions:
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "LinearMath/SimdScalar.h"
#include "LinearMath/SimdVector3.h"
#include "LinearMath/SimdPoint3.h"
#include "LinearMath/SimdTransform.h"
#include "LinearMath/SimdMinMax.h"
#include "LinearMath/btScalar.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btPoint3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btSimdMinMax.h"
#include <list>
@@ -36,19 +36,19 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
#include "NarrowPhaseCollision/EpaPenetrationDepthSolver.h"
SimdScalar g_GJKMaxRelError = 1e-3f;
SimdScalar g_GJKMaxRelErrorSqrd = g_GJKMaxRelError * g_GJKMaxRelError;
btScalar g_GJKMaxRelError = 1e-3f;
btScalar g_GJKMaxRelErrorSqrd = g_GJKMaxRelError * g_GJKMaxRelError;
bool EpaPenetrationDepthSolver::CalcPenDepth( SimplexSolverInterface& simplexSolver,
ConvexShape* pConvexA, ConvexShape* pConvexB,
const SimdTransform& transformA, const SimdTransform& transformB,
SimdVector3& v, SimdPoint3& wWitnessOnA, SimdPoint3& wWitnessOnB,
class IDebugDraw* debugDraw )
bool EpaPenetrationDepthSolver::CalcPenDepth( btSimplexSolverInterface& simplexSolver,
btConvexShape* pConvexA, btConvexShape* pConvexB,
const btTransform& transformA, const btTransform& transformB,
btVector3& v, btPoint3& wWitnessOnA, btPoint3& wWitnessOnB,
class btIDebugDraw* debugDraw )
{
EPA_DEBUG_ASSERT( pConvexA ,"Convex shape A is invalid!" );
EPA_DEBUG_ASSERT( pConvexB ,"Convex shape B is invalid!" );
SimdScalar penDepth;
btScalar penDepth;
#ifdef EPA_USE_HYBRID
bool needsEPA = !HybridPenDepth( simplexSolver, pConvexA, pConvexB, transformA, transformB,
@@ -70,17 +70,17 @@ bool EpaPenetrationDepthSolver::CalcPenDepth( SimplexSolverInterface& simplexSol
}
#ifdef EPA_USE_HYBRID
bool EpaPenetrationDepthSolver::HybridPenDepth( SimplexSolverInterface& simplexSolver,
ConvexShape* pConvexA, ConvexShape* pConvexB,
const SimdTransform& transformA, const SimdTransform& transformB,
SimdPoint3& wWitnessOnA, SimdPoint3& wWitnessOnB,
SimdScalar& penDepth, SimdVector3& v )
bool EpaPenetrationDepthSolver::HybridPenDepth( btSimplexSolverInterface& simplexSolver,
btConvexShape* pConvexA, btConvexShape* pConvexB,
const btTransform& transformA, const btTransform& transformB,
btPoint3& wWitnessOnA, btPoint3& wWitnessOnB,
btScalar& penDepth, btVector3& v )
{
SimdScalar squaredDistance = SIMD_INFINITY;
SimdScalar delta = 0.f;
btScalar squaredDistance = SIMD_INFINITY;
btScalar delta = 0.f;
const SimdScalar margin = pConvexA->GetMargin() + pConvexB->GetMargin();
const SimdScalar marginSqrd = margin * margin;
const btScalar margin = pConvexA->GetMargin() + pConvexB->GetMargin();
const btScalar marginSqrd = margin * margin;
simplexSolver.reset();
@@ -90,16 +90,16 @@ bool EpaPenetrationDepthSolver::HybridPenDepth( SimplexSolverInterface& simplexS
{
assert( ( v.length2() > 0 ) && "Warning: v is the zero vector!" );
SimdVector3 seperatingAxisInA = -v * transformA.getBasis();
SimdVector3 seperatingAxisInB = v * transformB.getBasis();
btVector3 seperatingAxisInA = -v * transformA.getBasis();
btVector3 seperatingAxisInB = v * transformB.getBasis();
SimdVector3 pInA = pConvexA->LocalGetSupportingVertexWithoutMargin( seperatingAxisInA );
SimdVector3 qInB = pConvexB->LocalGetSupportingVertexWithoutMargin( seperatingAxisInB );
btVector3 pInA = pConvexA->LocalGetSupportingVertexWithoutMargin( seperatingAxisInA );
btVector3 qInB = pConvexB->LocalGetSupportingVertexWithoutMargin( seperatingAxisInB );
SimdPoint3 pWorld = transformA( pInA );
SimdPoint3 qWorld = transformB( qInB );
btPoint3 pWorld = transformA( pInA );
btPoint3 qWorld = transformB( qInB );
SimdVector3 w = pWorld - qWorld;
btVector3 w = pWorld - qWorld;
delta = v.dot( w );
// potential exit, they don't overlap
@@ -117,7 +117,7 @@ bool EpaPenetrationDepthSolver::HybridPenDepth( SimplexSolverInterface& simplexS
simplexSolver.compute_points( wWitnessOnA, wWitnessOnB );
assert( ( squaredDistance > 0 ) && "squaredDistance is zero!" );
SimdScalar vLength = sqrt( squaredDistance );
btScalar vLength = sqrt( squaredDistance );
wWitnessOnA -= v * ( pConvexA->GetMargin() / vLength );
wWitnessOnB += v * ( pConvexB->GetMargin() / vLength );
@@ -137,7 +137,7 @@ bool EpaPenetrationDepthSolver::HybridPenDepth( SimplexSolverInterface& simplexS
simplexSolver.compute_points( wWitnessOnA, wWitnessOnB );
assert( ( squaredDistance > 0 ) && "squaredDistance is zero!" );
SimdScalar vLength = sqrt( squaredDistance );
btScalar vLength = sqrt( squaredDistance );
wWitnessOnA -= v * ( pConvexA->GetMargin() / vLength );
wWitnessOnB += v * ( pConvexB->GetMargin() / vLength );
@@ -148,7 +148,7 @@ bool EpaPenetrationDepthSolver::HybridPenDepth( SimplexSolverInterface& simplexS
return true;
}
SimdScalar previousSquaredDistance = squaredDistance;
btScalar previousSquaredDistance = squaredDistance;
squaredDistance = v.length2();
//are we getting any closer ?
@@ -160,7 +160,7 @@ bool EpaPenetrationDepthSolver::HybridPenDepth( SimplexSolverInterface& simplexS
simplexSolver.compute_points( wWitnessOnA, wWitnessOnB );
assert( ( squaredDistance > 0 ) && "squaredDistance is zero!" );
SimdScalar vLength = sqrt( squaredDistance );
btScalar vLength = sqrt( squaredDistance );
wWitnessOnA -= v * ( pConvexA->GetMargin() / vLength );
wWitnessOnB += v * ( pConvexB->GetMargin() / vLength );
@@ -184,10 +184,10 @@ bool EpaPenetrationDepthSolver::HybridPenDepth( SimplexSolverInterface& simplexS
}
#endif
SimdScalar EpaPenetrationDepthSolver::EpaPenDepth( SimplexSolverInterface& simplexSolver,
ConvexShape* pConvexA, ConvexShape* pConvexB,
const SimdTransform& transformA, const SimdTransform& transformB,
SimdPoint3& wWitnessOnA, SimdPoint3& wWitnessOnB )
btScalar EpaPenetrationDepthSolver::EpaPenDepth( btSimplexSolverInterface& simplexSolver,
btConvexShape* pConvexA, btConvexShape* pConvexB,
const btTransform& transformA, const btTransform& transformB,
btPoint3& wWitnessOnA, btPoint3& wWitnessOnB )
{
Epa epa( pConvexA, pConvexB, transformA, transformB );