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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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106
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -24,22 +24,22 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "LinearMath/GenAabbUtil2.h"
#include "LinearMath/btAabbUtil2.h"
#include <algorithm>
CollisionWorld::~CollisionWorld()
btCollisionWorld::~btCollisionWorld()
{
//clean up remaining objects
std::vector<CollisionObject*>::iterator i;
std::vector<btCollisionObject*>::iterator i;
for (i=m_collisionObjects.begin();
!(i==m_collisionObjects.end()); i++)
{
CollisionObject* collisionObject= (*i);
btCollisionObject* collisionObject= (*i);
BroadphaseProxy* bp = collisionObject->m_broadphaseHandle;
btBroadphaseProxy* bp = collisionObject->m_broadphaseHandle;
if (bp)
{
//
@@ -61,15 +61,15 @@ CollisionWorld::~CollisionWorld()
void CollisionWorld::AddCollisionObject(CollisionObject* collisionObject,short int collisionFilterGroup,short int collisionFilterMask)
void btCollisionWorld::AddCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup,short int collisionFilterMask)
{
m_collisionObjects.push_back(collisionObject);
//calculate new AABB
SimdTransform trans = collisionObject->m_worldTransform;
btTransform trans = collisionObject->m_worldTransform;
SimdVector3 minAabb;
SimdVector3 maxAabb;
btVector3 minAabb;
btVector3 maxAabb;
collisionObject->m_collisionShape->GetAabb(trans,minAabb,maxAabb);
int type = collisionObject->m_collisionShape->GetShapeType();
@@ -87,15 +87,15 @@ void CollisionWorld::AddCollisionObject(CollisionObject* collisionObject,short i
}
void CollisionWorld::PerformDiscreteCollisionDetection()
void btCollisionWorld::PerformDiscreteCollisionDetection()
{
DispatcherInfo dispatchInfo;
btDispatcherInfo dispatchInfo;
dispatchInfo.m_timeStep = 0.f;
dispatchInfo.m_stepCount = 0;
//update aabb (of all moved objects)
SimdVector3 aabbMin,aabbMax;
btVector3 aabbMin,aabbMax;
for (size_t i=0;i<m_collisionObjects.size();i++)
{
m_collisionObjects[i]->m_cachedInvertedWorldTransform = m_collisionObjects[i]->m_worldTransform.inverse();
@@ -105,14 +105,14 @@ void CollisionWorld::PerformDiscreteCollisionDetection()
m_pairCache->RefreshOverlappingPairs();
Dispatcher* dispatcher = GetDispatcher();
btDispatcher* dispatcher = GetDispatcher();
if (dispatcher)
dispatcher->DispatchAllCollisionPairs(m_pairCache,dispatchInfo);
}
void CollisionWorld::RemoveCollisionObject(CollisionObject* collisionObject)
void btCollisionWorld::RemoveCollisionObject(btCollisionObject* collisionObject)
{
@@ -120,7 +120,7 @@ void CollisionWorld::RemoveCollisionObject(CollisionObject* collisionObject)
{
BroadphaseProxy* bp = collisionObject->m_broadphaseHandle;
btBroadphaseProxy* bp = collisionObject->m_broadphaseHandle;
if (bp)
{
//
@@ -133,7 +133,7 @@ void CollisionWorld::RemoveCollisionObject(CollisionObject* collisionObject)
}
std::vector<CollisionObject*>::iterator i = std::find(m_collisionObjects.begin(), m_collisionObjects.end(), collisionObject);
std::vector<btCollisionObject*>::iterator i = std::find(m_collisionObjects.begin(), m_collisionObjects.end(), collisionObject);
if (!(i == m_collisionObjects.end()))
{
@@ -142,23 +142,23 @@ void CollisionWorld::RemoveCollisionObject(CollisionObject* collisionObject)
}
}
void CollisionWorld::RayTestSingle(const SimdTransform& rayFromTrans,const SimdTransform& rayToTrans,
CollisionObject* collisionObject,
const CollisionShape* collisionShape,
const SimdTransform& colObjWorldTransform,
void btCollisionWorld::RayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
btCollisionObject* collisionObject,
const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform,
RayResultCallback& resultCallback)
{
SphereShape pointShape(0.0f);
btSphereShape pointShape(0.0f);
if (collisionShape->IsConvex())
{
ConvexCast::CastResult castResult;
btConvexCast::CastResult castResult;
castResult.m_fraction = 1.f;//??
ConvexShape* convexShape = (ConvexShape*) collisionShape;
VoronoiSimplexSolver simplexSolver;
SubsimplexConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
btConvexShape* convexShape = (btConvexShape*) collisionShape;
btVoronoiSimplexSolver simplexSolver;
btSubsimplexConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
//GjkConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
//ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0);
@@ -172,7 +172,7 @@ void CollisionWorld::RayTestSingle(const SimdTransform& rayFromTrans,const SimdT
{
CollisionWorld::LocalRayResult localRayResult
btCollisionWorld::LocalRayResult localRayResult
(
collisionObject,
0,
@@ -192,24 +192,24 @@ void CollisionWorld::RayTestSingle(const SimdTransform& rayFromTrans,const SimdT
if (collisionShape->IsConcave())
{
TriangleMeshShape* triangleMesh = (TriangleMeshShape*)collisionShape;
btTriangleMeshShape* triangleMesh = (btTriangleMeshShape*)collisionShape;
SimdTransform worldTocollisionObject = colObjWorldTransform.inverse();
btTransform worldTocollisionObject = colObjWorldTransform.inverse();
SimdVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
SimdVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
//ConvexCast::CastResult
struct BridgeTriangleRaycastCallback : public TriangleRaycastCallback
struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
{
CollisionWorld::RayResultCallback* m_resultCallback;
CollisionObject* m_collisionObject;
TriangleMeshShape* m_triangleMesh;
btCollisionWorld::RayResultCallback* m_resultCallback;
btCollisionObject* m_collisionObject;
btTriangleMeshShape* m_triangleMesh;
BridgeTriangleRaycastCallback( const SimdVector3& from,const SimdVector3& to,
CollisionWorld::RayResultCallback* resultCallback, CollisionObject* collisionObject,TriangleMeshShape* triangleMesh):
TriangleRaycastCallback(from,to),
BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh):
btTriangleRaycastCallback(from,to),
m_resultCallback(resultCallback),
m_collisionObject(collisionObject),
m_triangleMesh(triangleMesh)
@@ -217,13 +217,13 @@ void CollisionWorld::RayTestSingle(const SimdTransform& rayFromTrans,const SimdT
}
virtual float ReportHit(const SimdVector3& hitNormalLocal, float hitFraction, int partId, int triangleIndex )
virtual float ReportHit(const btVector3& hitNormalLocal, float hitFraction, int partId, int triangleIndex )
{
CollisionWorld::LocalShapeInfo shapeInfo;
btCollisionWorld::LocalShapeInfo shapeInfo;
shapeInfo.m_shapePart = partId;
shapeInfo.m_triangleIndex = triangleIndex;
CollisionWorld::LocalRayResult rayResult
btCollisionWorld::LocalRayResult rayResult
(m_collisionObject,
&shapeInfo,
hitNormalLocal,
@@ -240,9 +240,9 @@ void CollisionWorld::RayTestSingle(const SimdTransform& rayFromTrans,const SimdT
BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh);
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
SimdVector3 rayAabbMinLocal = rayFromLocal;
btVector3 rayAabbMinLocal = rayFromLocal;
rayAabbMinLocal.setMin(rayToLocal);
SimdVector3 rayAabbMaxLocal = rayFromLocal;
btVector3 rayAabbMaxLocal = rayFromLocal;
rayAabbMaxLocal.setMax(rayToLocal);
triangleMesh->ProcessAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal);
@@ -252,13 +252,13 @@ void CollisionWorld::RayTestSingle(const SimdTransform& rayFromTrans,const SimdT
//todo: use AABB tree or other BVH acceleration structure!
if (collisionShape->IsCompound())
{
const CompoundShape* compoundShape = static_cast<const CompoundShape*>(collisionShape);
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
int i=0;
for (i=0;i<compoundShape->GetNumChildShapes();i++)
{
SimdTransform childTrans = compoundShape->GetChildTransform(i);
const CollisionShape* childCollisionShape = compoundShape->GetChildShape(i);
SimdTransform childWorldTrans = colObjWorldTransform * childTrans;
btTransform childTrans = compoundShape->GetChildTransform(i);
const btCollisionShape* childCollisionShape = compoundShape->GetChildShape(i);
btTransform childWorldTrans = colObjWorldTransform * childTrans;
RayTestSingle(rayFromTrans,rayToTrans,
collisionObject,
childCollisionShape,
@@ -273,11 +273,11 @@ void CollisionWorld::RayTestSingle(const SimdTransform& rayFromTrans,const SimdT
}
}
void CollisionWorld::RayTest(const SimdVector3& rayFromWorld, const SimdVector3& rayToWorld, RayResultCallback& resultCallback)
void btCollisionWorld::RayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback)
{
SimdTransform rayFromTrans,rayToTrans;
btTransform rayFromTrans,rayToTrans;
rayFromTrans.setIdentity();
rayFromTrans.setOrigin(rayFromWorld);
rayToTrans.setIdentity();
@@ -285,8 +285,8 @@ void CollisionWorld::RayTest(const SimdVector3& rayFromWorld, const SimdVector3&
rayToTrans.setOrigin(rayToWorld);
//do culling based on aabb (rayFrom/rayTo)
SimdVector3 rayAabbMin = rayFromWorld;
SimdVector3 rayAabbMax = rayFromWorld;
btVector3 rayAabbMin = rayFromWorld;
btVector3 rayAabbMax = rayFromWorld;
rayAabbMin.setMin(rayToWorld);
rayAabbMax.setMax(rayToWorld);
@@ -294,16 +294,16 @@ void CollisionWorld::RayTest(const SimdVector3& rayFromWorld, const SimdVector3&
/// brute force go over all objects. Once there is a broadphase, use that, or
/// add a raycast against aabb first.
std::vector<CollisionObject*>::iterator iter;
std::vector<btCollisionObject*>::iterator iter;
for (iter=m_collisionObjects.begin();
!(iter==m_collisionObjects.end()); iter++)
{
CollisionObject* collisionObject= (*iter);
btCollisionObject* collisionObject= (*iter);
//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
SimdVector3 collisionObjectAabbMin,collisionObjectAabbMax;
btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
collisionObject->m_collisionShape->GetAabb(collisionObject->m_worldTransform,collisionObjectAabbMin,collisionObjectAabbMax);
//check aabb overlap