Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

merged most of the changes from the branch into trunk, except for COLLADA, libxml and glut glitches.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

54
Extras/ExtraSolid35/Solid3JohnsonSimplexSolver.cpp
View File

@@ -8,7 +8,7 @@
* LICENSE.QPL included in the packaging of this file.
*
* This library may be distributed and/or modified under the terms of the
* GNU General Public License (GPL) version 2 as published by the Free Software
* GNU bteral Public License (GPL) version 2 as published by the Free Software
* Foundation and appearing in the file LICENSE.GPL included in the
* packaging of this file.
*
@@ -22,7 +22,7 @@
*/
#include "Solid3JohnsonSimplexSolver.h"
#include "LinearMath/GenMinMax.h"
#include "LinearMath/btMinMax.h"
//#define USE_BACKUP_PROCEDURE
//#define FAST_CLOSEST
@@ -48,7 +48,7 @@ void Solid3JohnsonSimplexSolver::reset()
void Solid3JohnsonSimplexSolver::addVertex(const SimdVector3& w)
void Solid3JohnsonSimplexSolver::addVertex(const btVector3& w)
{
assert(!fullSimplex());
m_last = 0;
@@ -66,7 +66,7 @@ void Solid3JohnsonSimplexSolver::addVertex(const SimdVector3& w)
compute_det();
}
void Solid3JohnsonSimplexSolver::addVertex(const SimdVector3& w, const SimdPoint3& p, const SimdPoint3& q)
void Solid3JohnsonSimplexSolver::addVertex(const btVector3& w, const btPoint3& p, const btPoint3& q)
{
addVertex(w);
m_p[m_last] = p;
@@ -83,12 +83,12 @@ bool Solid3JohnsonSimplexSolver::fullSimplex() const
return m_bits1 == 0xf;
}
SimdScalar Solid3JohnsonSimplexSolver::maxVertex()
btScalar Solid3JohnsonSimplexSolver::maxVertex()
{
return m_maxlen2;
}
bool Solid3JohnsonSimplexSolver::closest(SimdVector3& v)
bool Solid3JohnsonSimplexSolver::closest(btVector3& v)
{
#ifdef FAST_CLOSEST
T_Bits s;
@@ -125,14 +125,14 @@ bool Solid3JohnsonSimplexSolver::closest(SimdVector3& v)
// Original GJK calls the backup procedure at this point.
#ifdef USE_BACKUP_PROCEDURE
backup_closest(SimdVector3& v);
backup_closest(btVector3& v);
#endif
return false;
}
int Solid3JohnsonSimplexSolver::getSimplex(SimdPoint3 *pBuf, SimdPoint3 *qBuf, SimdVector3 *yBuf) const
int Solid3JohnsonSimplexSolver::getSimplex(btPoint3 *pBuf, btPoint3 *qBuf, btVector3 *yBuf) const
{
int num_verts = 0;
int i;
@@ -155,7 +155,7 @@ int Solid3JohnsonSimplexSolver::getSimplex(SimdPoint3 *pBuf, SimdPoint3 *qBuf, S
return num_verts;
}
bool Solid3JohnsonSimplexSolver::inSimplex(const SimdVector3& w)
bool Solid3JohnsonSimplexSolver::inSimplex(const btVector3& w)
{
int i;
T_Bits bit;
@@ -171,18 +171,18 @@ bool Solid3JohnsonSimplexSolver::inSimplex(const SimdVector3& w)
void Solid3JohnsonSimplexSolver::backup_closest(SimdVector3& v)
void Solid3JohnsonSimplexSolver::backup_closest(btVector3& v)
{
SimdScalar min_dist2 = SIMD_INFINITY;
btScalar min_dist2 = SIMD_INFINITY;
T_Bits s;
for (s = m_all_bits; s != 0x0; --s)
{
if (subseteq(s, m_all_bits) && proper(s))
{
SimdVector3 u;
btVector3 u;
compute_vector(s, u);
SimdScalar dist2 = u.length2();
btScalar dist2 = u.length2();
if (dist2 < min_dist2)
{
min_dist2 = dist2;
@@ -195,11 +195,11 @@ void Solid3JohnsonSimplexSolver::backup_closest(SimdVector3& v)
}
void Solid3JohnsonSimplexSolver::compute_points(SimdPoint3& p1, SimdPoint3& p2)
void Solid3JohnsonSimplexSolver::compute_points(btPoint3& p1, btPoint3& p2)
{
SimdScalar sum = SimdScalar(0.0);
p1.setValue(SimdScalar(0.0), SimdScalar(0.0), SimdScalar(0.0));
p2.setValue(SimdScalar(0.0), SimdScalar(0.0), SimdScalar(0.0));
btScalar sum = btScalar(0.0);
p1.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
p2.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
int i;
T_Bits bit;
for (i = 0, bit = 0x1; i < 4; ++i, bit <<= 1)
@@ -212,8 +212,8 @@ void Solid3JohnsonSimplexSolver::compute_points(SimdPoint3& p1, SimdPoint3& p2)
}
}
assert(sum > SimdScalar(0.0));
SimdScalar s = SimdScalar(1.0) / sum;
assert(sum > btScalar(0.0));
btScalar s = btScalar(1.0) / sum;
p1 *= s;
p2 *= s;
}
@@ -272,12 +272,12 @@ bool Solid3JohnsonSimplexSolver::valid(T_Bits s)
{
if (contains(s, bit))
{
if (m_det[s][i] <= SimdScalar(0.0))
if (m_det[s][i] <= btScalar(0.0))
{
return false;
}
}
else if (m_det[s | bit][i] > SimdScalar(0.0))
else if (m_det[s | bit][i] > btScalar(0.0))
{
return false;
}
@@ -292,7 +292,7 @@ bool Solid3JohnsonSimplexSolver::proper(T_Bits s)
T_Bits bit;
for (i = 0, bit = 0x1; i < 4; ++i, bit <<= 1)
{
if (contains(s, bit) && m_det[s][i] <= SimdScalar(0.0))
if (contains(s, bit) && m_det[s][i] <= btScalar(0.0))
{
return false;
}
@@ -300,11 +300,11 @@ bool Solid3JohnsonSimplexSolver::proper(T_Bits s)
return true;
}
void Solid3JohnsonSimplexSolver::compute_vector(T_Bits s, SimdVector3& v)
void Solid3JohnsonSimplexSolver::compute_vector(T_Bits s, btVector3& v)
{
m_maxlen2 = SimdScalar(0.0);
SimdScalar sum = SimdScalar(0.0);
v .setValue(SimdScalar(0.0), SimdScalar(0.0), SimdScalar(0.0));
m_maxlen2 = btScalar(0.0);
btScalar sum = btScalar(0.0);
v .setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
int i;
T_Bits bit;
@@ -318,7 +318,7 @@ void Solid3JohnsonSimplexSolver::compute_vector(T_Bits s, SimdVector3& v)
}
}
assert(sum > SimdScalar(0.0));
assert(sum > btScalar(0.0));
v /= sum;
}