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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/PhysicsInterface/CcdPhysics/SimulationIsland.cpp
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@@ -14,7 +14,7 @@ subject to the following restrictions:
*/
#include "SimulationIsland.h"
#include "LinearMath/SimdTransform.h"
#include "LinearMath/btTransform.h"
#include "CcdPhysicsController.h"
#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
@@ -22,17 +22,17 @@ subject to the following restrictions:
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
#include "LinearMath/GenIDebugDraw.h"
#include "LinearMath/btIDebugDraw.h"
extern float gContactBreakingTreshold;
bool SimulationIsland::Simulate(IDebugDraw* debugDrawer,int numSolverIterations,TypedConstraint** constraintsBaseAddress,BroadphasePair* overlappingPairBaseAddress, Dispatcher* dispatcher,BroadphaseInterface* broadphase,class ConstraintSolver* solver,float timeStep)
bool SimulationIsland::Simulate(btIDebugDraw* debugDrawer,int numSolverIterations,btTypedConstraint** constraintsBaseAddress,btBroadphasePair* overlappingPairBaseAddress, btDispatcher* dispatcher,btBroadphaseInterface* broadphase,class btConstraintSolver* solver,float timeStep)
{
#ifdef USE_QUICKPROF
Profiler::beginBlock("predictIntegratedTransform");
btProfiler::beginBlock("predictIntegratedTransform");
#endif //USE_QUICKPROF
{
@@ -44,8 +44,8 @@ bool SimulationIsland::Simulate(IDebugDraw* debugDrawer,int numSolverIterations,
for (k=0;k<GetNumControllers();k++)
{
CcdPhysicsController* ctrl = m_controllers[k];
// SimdTransform predictedTrans;
RigidBody* body = ctrl->GetRigidBody();
// btTransform predictedTrans;
btRigidBody* body = ctrl->GetRigidBody();
//todo: only do this when necessary, it's used for contact points
body->m_cachedInvertedWorldTransform = body->m_worldTransform.inverse();
@@ -63,7 +63,7 @@ bool SimulationIsland::Simulate(IDebugDraw* debugDrawer,int numSolverIterations,
}
#ifdef USE_QUICKPROF
Profiler::endBlock("predictIntegratedTransform");
btProfiler::endBlock("predictIntegratedTransform");
#endif //USE_QUICKPROF
//BroadphaseInterface* scene = GetBroadphase();
@@ -75,20 +75,20 @@ bool SimulationIsland::Simulate(IDebugDraw* debugDrawer,int numSolverIterations,
#ifdef USE_QUICKPROF
Profiler::beginBlock("DispatchAllCollisionPairs");
btProfiler::beginBlock("DispatchAllCollisionPairs");
#endif //USE_QUICKPROF
// int numsubstep = m_numIterations;
DispatcherInfo dispatchInfo;
btDispatcherInfo dispatchInfo;
dispatchInfo.m_timeStep = timeStep;
dispatchInfo.m_stepCount = 0;
dispatchInfo.m_enableSatConvex = false;//m_enableSatCollisionDetection;
dispatchInfo.m_debugDraw = debugDrawer;
std::vector<BroadphasePair> overlappingPairs;
std::vector<btBroadphasePair> overlappingPairs;
overlappingPairs.resize(this->m_overlappingPairIndices.size());
//gather overlapping pair info
@@ -115,13 +115,13 @@ bool SimulationIsland::Simulate(IDebugDraw* debugDrawer,int numSolverIterations,
#ifdef USE_QUICKPROF
Profiler::endBlock("DispatchAllCollisionPairs");
btProfiler::endBlock("DispatchAllCollisionPairs");
#endif //USE_QUICKPROF
//contacts
#ifdef USE_QUICKPROF
Profiler::beginBlock("SolveConstraint");
btProfiler::beginBlock("SolveConstraint");
#endif //USE_QUICKPROF
@@ -139,7 +139,7 @@ bool SimulationIsland::Simulate(IDebugDraw* debugDrawer,int numSolverIterations,
//point to point constraints
for (i=0;i< numConstraints ; i++ )
{
TypedConstraint* constraint = constraintsBaseAddress[m_constraintIndices[i]];
btTypedConstraint* constraint = constraintsBaseAddress[m_constraintIndices[i]];
constraint->BuildJacobian();
constraint->SolveConstraint( timeStep );
@@ -149,7 +149,7 @@ bool SimulationIsland::Simulate(IDebugDraw* debugDrawer,int numSolverIterations,
}
#ifdef USE_QUICKPROF
Profiler::endBlock("SolveConstraint");
btProfiler::endBlock("SolveConstraint");
#endif //USE_QUICKPROF
/*
@@ -162,7 +162,7 @@ bool SimulationIsland::Simulate(IDebugDraw* debugDrawer,int numSolverIterations,
for (int i=0;i<numVehicles;i++)
{
WrapperVehicle* wrapperVehicle = m_wrapperVehicles[i];
RaycastVehicle* vehicle = wrapperVehicle->GetVehicle();
btRaycastVehicle* vehicle = wrapperVehicle->GetVehicle();
vehicle->UpdateVehicle( timeStep);
}
#endif //NEW_BULLET_VEHICLE_SUPPORT
@@ -170,20 +170,20 @@ bool SimulationIsland::Simulate(IDebugDraw* debugDrawer,int numSolverIterations,
/*
Profiler::beginBlock("CallbackTriggers");
btProfiler::beginBlock("CallbackTriggers");
#endif //USE_QUICKPROF
CallbackTriggers();
#ifdef USE_QUICKPROF
Profiler::endBlock("CallbackTriggers");
btProfiler::endBlock("CallbackTriggers");
}
*/
//OverlappingPairCache* scene = GetCollisionWorld()->GetPairCache();
ContactSolverInfo solverInfo;
btContactSolverInfo solverInfo;
solverInfo.m_friction = 0.9f;
solverInfo.m_numIterations = numSolverIterations;
@@ -198,7 +198,7 @@ bool SimulationIsland::Simulate(IDebugDraw* debugDrawer,int numSolverIterations,
#ifdef USE_QUICKPROF
Profiler::beginBlock("proceedToTransform");
btProfiler::beginBlock("proceedToTransform");
#endif //USE_QUICKPROF
{
@@ -216,10 +216,10 @@ bool SimulationIsland::Simulate(IDebugDraw* debugDrawer,int numSolverIterations,
/* if (m_ccdMode == 3)
{
DispatcherInfo dispatchInfo;
btDispatcherInfo dispatchInfo;
dispatchInfo.m_timeStep = timeStep;
dispatchInfo.m_stepCount = 0;
dispatchInfo.m_dispatchFunc = DispatcherInfo::DISPATCH_CONTINUOUS;
dispatchInfo.m_dispatchFunc = btDispatcherInfo::DISPATCH_CONTINUOUS;
// GetCollisionWorld()->GetDispatcher()->DispatchAllCollisionPairs(scene,dispatchInfo);
toi = dispatchInfo.m_timeOfImpact;
@@ -243,8 +243,8 @@ bool SimulationIsland::Simulate(IDebugDraw* debugDrawer,int numSolverIterations,
CcdPhysicsController* ctrl = *i;
SimdTransform predictedTrans;
RigidBody* body = ctrl->GetRigidBody();
btTransform predictedTrans;
btRigidBody* body = ctrl->GetRigidBody();
if (body->IsActive())
{
@@ -276,7 +276,7 @@ bool SimulationIsland::Simulate(IDebugDraw* debugDrawer,int numSolverIterations,
!(i==m_controllers.end()); i++)
{
CcdPhysicsController* ctrl = (*i);
RigidBody* body = ctrl->GetRigidBody();
btRigidBody* body = ctrl->GetRigidBody();
ctrl->UpdateDeactivation(timeStep);
@@ -313,15 +313,15 @@ bool SimulationIsland::Simulate(IDebugDraw* debugDrawer,int numSolverIterations,
#ifdef USE_QUICKPROF
Profiler::endBlock("proceedToTransform");
btProfiler::endBlock("proceedToTransform");
Profiler::beginBlock("SyncMotionStates");
btProfiler::beginBlock("SyncMotionStates");
#endif //USE_QUICKPROF
SyncMotionStates(timeStep);
#ifdef USE_QUICKPROF
Profiler::endBlock("SyncMotionStates");
btProfiler::endBlock("SyncMotionStates");
#endif //USE_QUICKPROF
@@ -363,7 +363,7 @@ void SimulationIsland::SyncMotionStates(float timeStep)
void SimulationIsland::UpdateAabbs(IDebugDraw* debugDrawer,BroadphaseInterface* scene,float timeStep)
void SimulationIsland::UpdateAabbs(btIDebugDraw* debugDrawer,btBroadphaseInterface* scene,float timeStep)
{
std::vector<CcdPhysicsController*>::iterator i;
@@ -375,33 +375,33 @@ void SimulationIsland::UpdateAabbs(IDebugDraw* debugDrawer,BroadphaseInterface*
!(i==m_controllers.end()); i++)
{
CcdPhysicsController* ctrl = (*i);
RigidBody* body = ctrl->GetRigidBody();
btRigidBody* body = ctrl->GetRigidBody();
SimdPoint3 minAabb,maxAabb;
CollisionShape* shapeinterface = ctrl->GetCollisionShape();
btPoint3 minAabb,maxAabb;
btCollisionShape* shapeinterface = ctrl->GetCollisionShape();
shapeinterface->CalculateTemporalAabb(body->getCenterOfMassTransform(),
body->getLinearVelocity(),
//body->getAngularVelocity(),
SimdVector3(0.f,0.f,0.f),//no angular effect for now //body->getAngularVelocity(),
btVector3(0.f,0.f,0.f),//no angular effect for now //body->getAngularVelocity(),
timeStep,minAabb,maxAabb);
SimdVector3 manifoldExtraExtents(gContactBreakingTreshold,gContactBreakingTreshold,gContactBreakingTreshold);
btVector3 manifoldExtraExtents(gContactBreakingTreshold,gContactBreakingTreshold,gContactBreakingTreshold);
minAabb -= manifoldExtraExtents;
maxAabb += manifoldExtraExtents;
BroadphaseProxy* bp = body->m_broadphaseHandle;
btBroadphaseProxy* bp = body->m_broadphaseHandle;
if (bp)
{
SimdVector3 color (1,1,0);
btVector3 color (1,1,0);
/*
class IDebugDraw* m_debugDrawer = 0;
class btIDebugDraw* m_debugDrawer = 0;
if (m_debugDrawer)
{
//draw aabb
@@ -428,7 +428,7 @@ void SimulationIsland::UpdateAabbs(IDebugDraw* debugDrawer,BroadphaseInterface*
};
if (m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_DrawAabb)
if (m_debugDrawer->GetDebugMode() & btIDebugDraw::DBG_DrawAabb)
{
DrawAabb(m_debugDrawer,minAabb,maxAabb,color);
}