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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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52
Extras/test_BulletOde.cpp
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@@ -5,10 +5,10 @@
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of EITHER: *
* (1) The GNU Lesser General Public License as published by the Free *
* (1) The GNU Lesser bteral Public License as published by the Free *
* Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. The text of the GNU Lesser *
* General Public License is included with this library in the *
* bteral Public License is included with this library in the *
* file LICENSE.TXT. *
* (2) The BSD-style license that is included with this library in *
* the file LICENSE-BSD.TXT. *
@@ -69,14 +69,14 @@
struct MyObject {
dBodyID body; // the body
CollisionObject collider; //the collisionShape
btCollisionObject collider; //the collisionShape
};
static int num=0; // number of objects in simulation
static int nextobj=0; // next object to recycle if num==NUM
static dWorldID world;
CollisionWorld* collisionWorld = 0;
btCollisionWorld* collisionWorld = 0;
static MyObject obj[NUM];
static dJointGroupID contactgroup;
@@ -88,24 +88,24 @@ static int write_world = 0;
SimdTransform GetTransformFromOde(const dReal* pos,const dReal* rot)
btTransform GetTransformFromOde(const dReal* pos,const dReal* rot)
{
SimdTransform trans;
btTransform trans;
trans.setIdentity();
// rot is pointer to object's rotation matrix, 4*3 format!
SimdMatrix3x3 orn(rot[0],rot[1],rot[2],
btMatrix3x3 orn(rot[0],rot[1],rot[2],
rot[4],rot[5],rot[6],
rot[8],rot[9],rot[10]);
trans.setOrigin(SimdVector3(pos[0],pos[1],pos[2]));
trans.setOrigin(btVector3(pos[0],pos[1],pos[2]));
trans.setBasis(orn);
return trans;
}
void GetOdeFromTransform(const SimdTransform& trans,dReal* pos,dReal* rot)
void GetOdeFromTransform(const btTransform& trans,dReal* pos,dReal* rot)
{
pos[0] = trans.getOrigin().x();
pos[1] = trans.getOrigin().y();
@@ -180,7 +180,7 @@ static void command (int cmd)
// destroy the body and geoms for slot i
dBodyDestroy (obj[i].body);
collisionWorld->RemoveCollisionObject(&obj[i].collider);
obj[i].collider.m_broadphaseHandle = (BroadphaseProxy*)(-1);
obj[i].collider.m_broadphaseHandle = (btBroadphaseProxy*)(-1);
//todo: destroy collider
@@ -210,7 +210,7 @@ static void command (int cmd)
if (cmd == 'b') {
dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
obj[i].collider.m_collisionShape = new BoxShape(SimdVector3(0.5*sides[0],0.5*sides[1],0.5*sides[2]));
obj[i].collider.m_collisionShape = new btBoxShape(btVector3(0.5*sides[0],0.5*sides[1],0.5*sides[2]));
obj[i].collider.m_worldTransform = GetTransformFromOde(dBodyGetPosition(obj[i].body),dBodyGetRotation(obj[i].body));
collisionWorld->AddCollisionObject(&obj[i].collider);
obj[i].collider.m_userPointer = obj[i].body;
@@ -221,7 +221,7 @@ static void command (int cmd)
sides[1] *= 0.2;
sides[2] *= 0.2;
dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]);
obj[i].collider.m_collisionShape = new CylinderShapeZ(SimdVector3(sides[0],sides[1],sides[1]));
obj[i].collider.m_collisionShape = new btCylinderShapeZ(btVector3(sides[0],sides[1],sides[1]));
obj[i].collider.m_worldTransform = GetTransformFromOde(dBodyGetPosition(obj[i].body),dBodyGetRotation(obj[i].body));
collisionWorld->AddCollisionObject(&obj[i].collider);
obj[i].collider.m_userPointer = obj[i].body;
@@ -238,7 +238,7 @@ static void command (int cmd)
else if (cmd == 's') {
sides[0] *= 0.5;
dMassSetSphere (&m,DENSITY,sides[0]);
obj[i].collider.m_collisionShape = new SphereShape(sides[0]);
obj[i].collider.m_collisionShape = new btSphereShape(sides[0]);
obj[i].collider.m_worldTransform = GetTransformFromOde(dBodyGetPosition(obj[i].body),dBodyGetRotation(obj[i].body));
@@ -289,7 +289,7 @@ static void command (int cmd)
// draw a geom
void drawGeom (CollisionObject& collider)//, const dReal *pos, const dReal *R, int show_aabb)
void drawGeom (btCollisionObject& collider)//, const dReal *pos, const dReal *R, int show_aabb)
{
dReal pos[4];
dReal R[16];
@@ -304,7 +304,7 @@ void drawGeom (CollisionObject& collider)//, const dReal *pos, const dReal *R, i
if (type == BOX_SHAPE_PROXYTYPE) {
dVector3 sides;
BoxShape* boxShape = static_cast<BoxShape*>(collider.m_collisionShape);
btBoxShape* boxShape = static_cast<btBoxShape*>(collider.m_collisionShape);
sides[0] = 2.f*boxShape->GetHalfExtents().x();
sides[1] = 2.f*boxShape->GetHalfExtents().y();
sides[2] = 2.f*boxShape->GetHalfExtents().z();
@@ -313,7 +313,7 @@ void drawGeom (CollisionObject& collider)//, const dReal *pos, const dReal *R, i
}
else if (type == SPHERE_SHAPE_PROXYTYPE) {
SphereShape* sphereShape = static_cast<SphereShape*>(collider.m_collisionShape);
btSphereShape* sphereShape = static_cast<btSphereShape*>(collider.m_collisionShape);
dReal radius = sphereShape->GetMargin();
dsDrawSphere (pos,R,radius);
@@ -322,7 +322,7 @@ void drawGeom (CollisionObject& collider)//, const dReal *pos, const dReal *R, i
else if (type == CYLINDER_SHAPE_PROXYTYPE) {
CylinderShapeZ* cylinder = static_cast<CylinderShapeZ*>(collider.m_collisionShape);
btCylinderShapeZ* cylinder = static_cast<btCylinderShapeZ*>(collider.m_collisionShape);
dReal radius = cylinder->GetHalfExtents()[0];
dReal length = 2.f*cylinder->GetHalfExtents()[1];
radius += cylinder->GetMargin();
@@ -381,15 +381,15 @@ static void simLoop (int pause)
for (int i=0;i<collisionWorld->GetDispatcher()->GetNumManifolds();i++)
{
PersistentManifold* manifold = collisionWorld->GetDispatcher()->GetManifoldByIndexInternal(i);
CollisionObject* obj0 = static_cast<CollisionObject*>(manifold->GetBody0());
CollisionObject* obj1 = static_cast<CollisionObject*>(manifold->GetBody1());
btPersistentManifold* manifold = collisionWorld->GetDispatcher()->GetManifoldByIndexInternal(i);
btCollisionObject* obj0 = static_cast<btCollisionObject*>(manifold->GetBody0());
btCollisionObject* obj1 = static_cast<btCollisionObject*>(manifold->GetBody1());
//RefreshContactPoints will update and/or remove existing contactpoints from previous frames
manifold->RefreshContactPoints(obj0->m_worldTransform,obj1->m_worldTransform);
for (int j=0;j<manifold->GetNumContacts();j++)
{
ManifoldPoint& pt = manifold->GetContactPoint(j);
btManifoldPoint& pt = manifold->GetContactPoint(j);
if (pt.GetDistance()<0.f)
{
//report point to ODE
@@ -495,11 +495,11 @@ int main (int argc, char **argv)
//space = dHashSpaceCreate (0);
float bpsize = 1000.f;
AxisSweep3 broadphase(SimdVector3(-bpsize,-bpsize,-bpsize),SimdVector3(bpsize,bpsize,bpsize));
btAxisSweep3 broadphase(btVector3(-bpsize,-bpsize,-bpsize),btVector3(bpsize,bpsize,bpsize));
//SimpleBroadphase broadphase;
CollisionDispatcher dispatcher;
collisionWorld = new CollisionWorld(&dispatcher,&broadphase);
btCollisionDispatcher dispatcher;
collisionWorld = new btCollisionWorld(&dispatcher,&broadphase);
contactgroup = dJointGroupCreate (0);
dWorldSetGravity (world,0,0,-0.5);
@@ -510,9 +510,9 @@ int main (int argc, char **argv)
dWorldSetContactSurfaceLayer (world,0.001);
//dCreatePlane (space,0,0,1,0);
CollisionObject groundPlane;
btCollisionObject groundPlane;
groundPlane.m_worldTransform.setIdentity();
groundPlane.m_collisionShape = new BoxShape(SimdVector3(50,50,0.04));
groundPlane.m_collisionShape = new btBoxShape(btVector3(50,50,0.04));
groundPlane.m_collisionShape->SetMargin(0.005f);
collisionWorld->AddCollisionObject(&groundPlane);
groundPlane.m_userPointer = 0;