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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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120
Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
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@@ -21,14 +21,14 @@ subject to the following restrictions:
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "CcdPhysicsEnvironment.h"
#include "LinearMath/SimdTransformUtil.h"
#include "LinearMath/btTransformUtil.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btConeShape.h"
class BP_Proxy;
///todo: fill all the empty CcdPhysicsController methods, hook them up to the RigidBody class
///todo: fill all the empty CcdPhysicsController methods, hook them up to the btRigidBody class
//'temporarily' global variables
float gDeactivationTime = 2.f;
@@ -39,8 +39,8 @@ float gAngularSleepingTreshold = 1.0f;
#include "BulletDynamics/Dynamics/btMassProps.h"
SimdVector3 startVel(0,0,0);//-10000);
CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
btVector3 startVel(0,0,0);//-10000);
CcdPhysicsController::CcdPhysicsController (const btCcdConstructionInfo& ci)
:m_cci(ci)
{
m_collisionDelay = 0;
@@ -61,14 +61,14 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
}
SimdTransform CcdPhysicsController::GetTransformFromMotionState(PHY_IMotionState* motionState)
btTransform CcdPhysicsController::GetTransformFromMotionState(PHY_IMotionState* motionState)
{
SimdTransform trans;
btTransform trans;
float tmp[3];
motionState->getWorldPosition(tmp[0],tmp[1],tmp[2]);
trans.setOrigin(SimdVector3(tmp[0],tmp[1],tmp[2]));
trans.setOrigin(btVector3(tmp[0],tmp[1],tmp[2]));
SimdQuaternion orn;
btQuaternion orn;
motionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
trans.setRotation(orn);
return trans;
@@ -78,11 +78,11 @@ SimdTransform CcdPhysicsController::GetTransformFromMotionState(PHY_IMotionState
void CcdPhysicsController::CreateRigidbody()
{
SimdTransform trans = GetTransformFromMotionState(m_cci.m_MotionState);
btTransform trans = GetTransformFromMotionState(m_cci.m_MotionState);
MassProps mp(m_cci.m_mass, m_cci.m_localInertiaTensor);
btMassProps mp(m_cci.m_mass, m_cci.m_localInertiaTensor);
m_body = new RigidBody(mp,0,0,m_cci.m_friction,m_cci.m_restitution);
m_body = new btRigidBody(mp,0,0,m_cci.m_friction,m_cci.m_restitution);
m_body->m_collisionShape = m_cci.m_collisionShape;
@@ -120,27 +120,27 @@ bool CcdPhysicsController::SynchronizeMotionStates(float time)
if (!m_body->IsStatic())
{
const SimdVector3& worldPos = m_body->getCenterOfMassPosition();
const btVector3& worldPos = m_body->getCenterOfMassPosition();
m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
const SimdQuaternion& worldquat = m_body->getOrientation();
const btQuaternion& worldquat = m_body->getOrientation();
m_MotionState->setWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]);
m_MotionState->calculateWorldTransformations();
float scale[3];
m_MotionState->getWorldScaling(scale[0],scale[1],scale[2]);
SimdVector3 scaling(scale[0],scale[1],scale[2]);
btVector3 scaling(scale[0],scale[1],scale[2]);
GetCollisionShape()->setLocalScaling(scaling);
} else
{
SimdVector3 worldPos;
SimdQuaternion worldquat;
btVector3 worldPos;
btQuaternion worldquat;
m_MotionState->getWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
m_MotionState->getWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]);
SimdTransform oldTrans = m_body->getCenterOfMassTransform();
SimdTransform newTrans(worldquat,worldPos);
btTransform oldTrans = m_body->getCenterOfMassTransform();
btTransform newTrans(worldquat,worldPos);
m_body->setCenterOfMassTransform(newTrans);
//need to keep track of previous position for friction effects...
@@ -149,7 +149,7 @@ bool CcdPhysicsController::SynchronizeMotionStates(float time)
float scale[3];
m_MotionState->getWorldScaling(scale[0],scale[1],scale[2]);
SimdVector3 scaling(scale[0],scale[1],scale[2]);
btVector3 scaling(scale[0],scale[1],scale[2]);
GetCollisionShape()->setLocalScaling(scaling);
}
return true;
@@ -219,8 +219,8 @@ void CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dloc
{
m_body->activate();
SimdVector3 dloc(dlocX,dlocY,dlocZ);
SimdTransform xform = m_body->getCenterOfMassTransform();
btVector3 dloc(dlocX,dlocY,dlocZ);
btTransform xform = m_body->getCenterOfMassTransform();
if (local)
{
@@ -239,15 +239,15 @@ void CcdPhysicsController::RelativeRotate(const float rotval[9],bool local)
{
m_body->activate();
SimdMatrix3x3 drotmat( rotval[0],rotval[1],rotval[2],
btMatrix3x3 drotmat( rotval[0],rotval[1],rotval[2],
rotval[4],rotval[5],rotval[6],
rotval[8],rotval[9],rotval[10]);
SimdMatrix3x3 currentOrn;
btMatrix3x3 currentOrn;
GetWorldOrientation(currentOrn);
SimdTransform xform = m_body->getCenterOfMassTransform();
btTransform xform = m_body->getCenterOfMassTransform();
xform.setBasis(xform.getBasis()*(local ?
drotmat : (currentOrn.inverse() * drotmat * currentOrn)));
@@ -257,17 +257,17 @@ void CcdPhysicsController::RelativeRotate(const float rotval[9],bool local)
}
void CcdPhysicsController::GetWorldOrientation(SimdMatrix3x3& mat)
void CcdPhysicsController::GetWorldOrientation(btMatrix3x3& mat)
{
float orn[4];
m_MotionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
SimdQuaternion quat(orn[0],orn[1],orn[2],orn[3]);
btQuaternion quat(orn[0],orn[1],orn[2],orn[3]);
mat.setRotation(quat);
}
void CcdPhysicsController::getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal)
{
SimdQuaternion q = m_body->getCenterOfMassTransform().getRotation();
btQuaternion q = m_body->getCenterOfMassTransform().getRotation();
quatImag0 = q[0];
quatImag1 = q[1];
quatImag2 = q[2];
@@ -277,8 +277,8 @@ void CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float
{
m_body->activate();
m_MotionState->setWorldOrientation(quatImag0,quatImag1,quatImag2,quatReal);
SimdTransform xform = m_body->getCenterOfMassTransform();
xform.setRotation(SimdQuaternion(quatImag0,quatImag1,quatImag2,quatReal));
btTransform xform = m_body->getCenterOfMassTransform();
xform.setRotation(btQuaternion(quatImag0,quatImag1,quatImag2,quatReal));
m_body->setCenterOfMassTransform(xform);
}
@@ -287,8 +287,8 @@ void CcdPhysicsController::setPosition(float posX,float posY,float posZ)
{
m_body->activate();
m_MotionState->setWorldPosition(posX,posY,posZ);
SimdTransform xform = m_body->getCenterOfMassTransform();
xform.setOrigin(SimdVector3(posX,posY,posZ));
btTransform xform = m_body->getCenterOfMassTransform();
xform.setOrigin(btVector3(posX,posY,posZ));
m_body->setCenterOfMassTransform(xform);
}
@@ -298,7 +298,7 @@ void CcdPhysicsController::resolveCombinedVelocities(float linvelX,float linvel
void CcdPhysicsController::getPosition(PHY__Vector3& pos) const
{
const SimdTransform& xform = m_body->getCenterOfMassTransform();
const btTransform& xform = m_body->getCenterOfMassTransform();
pos[0] = xform.getOrigin().x();
pos[1] = xform.getOrigin().y();
pos[2] = xform.getOrigin().z();
@@ -306,11 +306,11 @@ void CcdPhysicsController::getPosition(PHY__Vector3& pos) const
void CcdPhysicsController::setScaling(float scaleX,float scaleY,float scaleZ)
{
if (!SimdFuzzyZero(m_cci.m_scaling.x()-scaleX) ||
!SimdFuzzyZero(m_cci.m_scaling.y()-scaleY) ||
!SimdFuzzyZero(m_cci.m_scaling.z()-scaleZ))
if (!btFuzzyZero(m_cci.m_scaling.x()-scaleX) ||
!btFuzzyZero(m_cci.m_scaling.y()-scaleY) ||
!btFuzzyZero(m_cci.m_scaling.z()-scaleZ))
{
m_cci.m_scaling = SimdVector3(scaleX,scaleY,scaleZ);
m_cci.m_scaling = btVector3(scaleX,scaleY,scaleZ);
if (m_body && m_body->GetCollisionShape())
{
@@ -324,8 +324,8 @@ void CcdPhysicsController::setScaling(float scaleX,float scaleY,float scaleZ)
// physics methods
void CcdPhysicsController::ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local)
{
SimdVector3 torque(torqueX,torqueY,torqueZ);
SimdTransform xform = m_body->getCenterOfMassTransform();
btVector3 torque(torqueX,torqueY,torqueZ);
btTransform xform = m_body->getCenterOfMassTransform();
if (local)
{
torque = xform.getBasis()*torque;
@@ -335,8 +335,8 @@ void CcdPhysicsController::ApplyTorque(float torqueX,float torqueY,float torque
void CcdPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bool local)
{
SimdVector3 force(forceX,forceY,forceZ);
SimdTransform xform = m_body->getCenterOfMassTransform();
btVector3 force(forceX,forceY,forceZ);
btTransform xform = m_body->getCenterOfMassTransform();
if (local)
{
force = xform.getBasis()*force;
@@ -345,14 +345,14 @@ void CcdPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bo
}
void CcdPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local)
{
SimdVector3 angvel(ang_velX,ang_velY,ang_velZ);
btVector3 angvel(ang_velX,ang_velY,ang_velZ);
if (angvel.length2() > (SIMD_EPSILON*SIMD_EPSILON))
{
m_body->activate();
}
{
SimdTransform xform = m_body->getCenterOfMassTransform();
btTransform xform = m_body->getCenterOfMassTransform();
if (local)
{
angvel = xform.getBasis()*angvel;
@@ -365,14 +365,14 @@ void CcdPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,flo
void CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local)
{
SimdVector3 linVel(lin_velX,lin_velY,lin_velZ);
btVector3 linVel(lin_velX,lin_velY,lin_velZ);
if (linVel.length2() > (SIMD_EPSILON*SIMD_EPSILON))
{
m_body->activate();
}
{
SimdTransform xform = m_body->getCenterOfMassTransform();
btTransform xform = m_body->getCenterOfMassTransform();
if (local)
{
linVel = xform.getBasis()*linVel;
@@ -382,13 +382,13 @@ void CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,floa
}
void CcdPhysicsController::applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)
{
SimdVector3 impulse(impulseX,impulseY,impulseZ);
btVector3 impulse(impulseX,impulseY,impulseZ);
if (impulse.length2() > (SIMD_EPSILON*SIMD_EPSILON))
{
m_body->activate();
SimdVector3 pos(attachX,attachY,attachZ);
btVector3 pos(attachX,attachY,attachZ);
m_body->activate();
@@ -402,7 +402,7 @@ void CcdPhysicsController::SetActive(bool active)
// reading out information from physics
void CcdPhysicsController::GetLinearVelocity(float& linvX,float& linvY,float& linvZ)
{
const SimdVector3& linvel = this->m_body->getLinearVelocity();
const btVector3& linvel = this->m_body->getLinearVelocity();
linvX = linvel.x();
linvY = linvel.y();
linvZ = linvel.z();
@@ -411,7 +411,7 @@ void CcdPhysicsController::GetLinearVelocity(float& linvX,float& linvY,float& l
void CcdPhysicsController::GetAngularVelocity(float& angVelX,float& angVelY,float& angVelZ)
{
const SimdVector3& angvel= m_body->getAngularVelocity();
const btVector3& angvel= m_body->getAngularVelocity();
angVelX = angvel.x();
angVelY = angvel.y();
angVelZ = angvel.z();
@@ -419,9 +419,9 @@ void CcdPhysicsController::GetAngularVelocity(float& angVelX,float& angVelY,flo
void CcdPhysicsController::GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ)
{
SimdVector3 pos(posX,posY,posZ);
SimdVector3 rel_pos = pos-m_body->getCenterOfMassPosition();
SimdVector3 linvel = m_body->getVelocityInLocalPoint(rel_pos);
btVector3 pos(posX,posY,posZ);
btVector3 rel_pos = pos-m_body->getCenterOfMassPosition();
btVector3 linvel = m_body->getVelocityInLocalPoint(rel_pos);
linvX = linvel.x();
linvY = linvel.y();
linvZ = linvel.z();
@@ -436,7 +436,7 @@ void CcdPhysicsController::setRigidBody(bool rigid)
if (!rigid)
{
//fake it for now
SimdVector3 inertia = m_body->getInvInertiaDiagLocal();
btVector3 inertia = m_body->getInvInertiaDiagLocal();
inertia[1] = 0.f;
m_body->setInvInertiaDiagLocal(inertia);
m_body->updateInertiaTensor();
@@ -494,24 +494,24 @@ bool CcdPhysicsController::wantsSleeping()
PHY_IPhysicsController* CcdPhysicsController::GetReplica()
{
//very experimental, shape sharing is not implemented yet.
//just support SphereShape/ConeShape for now
//just support btSphereShape/ConeShape for now
CcdConstructionInfo cinfo = m_cci;
btCcdConstructionInfo cinfo = m_cci;
if (cinfo.m_collisionShape)
{
switch (cinfo.m_collisionShape->GetShapeType())
{
case SPHERE_SHAPE_PROXYTYPE:
{
SphereShape* orgShape = (SphereShape*)cinfo.m_collisionShape;
cinfo.m_collisionShape = new SphereShape(*orgShape);
btSphereShape* orgShape = (btSphereShape*)cinfo.m_collisionShape;
cinfo.m_collisionShape = new btSphereShape(*orgShape);
break;
}
case CONE_SHAPE_PROXYTYPE:
{
ConeShape* orgShape = (ConeShape*)cinfo.m_collisionShape;
cinfo.m_collisionShape = new ConeShape(*orgShape);
btConeShape* orgShape = (btConeShape*)cinfo.m_collisionShape;
cinfo.m_collisionShape = new btConeShape(*orgShape);
break;
}
@@ -570,13 +570,13 @@ void DefaultMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,flo
void DefaultMotionState::setWorldPosition(float posX,float posY,float posZ)
{
SimdPoint3 pos(posX,posY,posZ);
btPoint3 pos(posX,posY,posZ);
m_worldTransform.setOrigin( pos );
}
void DefaultMotionState::setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal)
{
SimdQuaternion orn(quatIma0,quatIma1,quatIma2,quatReal);
btQuaternion orn(quatIma0,quatIma1,quatIma2,quatReal);
m_worldTransform.setRotation( orn );
}