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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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56
src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
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@@ -18,29 +18,29 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
CompoundCollisionAlgorithm::CompoundCollisionAlgorithm( const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
:m_dispatcher(ci.m_dispatcher),
m_compoundProxy(*proxy0),
m_otherProxy(*proxy1)
{
CollisionObject* colObj = static_cast<CollisionObject*>(m_compoundProxy.m_clientObject);
btCollisionObject* colObj = static_cast<btCollisionObject*>(m_compoundProxy.m_clientObject);
assert (colObj->m_collisionShape->IsCompound());
CompoundShape* compoundShape = static_cast<CompoundShape*>(colObj->m_collisionShape);
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->m_collisionShape);
int numChildren = compoundShape->GetNumChildShapes();
m_childProxies.resize( numChildren );
int i;
for (i=0;i<numChildren;i++)
{
m_childProxies[i] = BroadphaseProxy(*proxy0);
m_childProxies[i] = btBroadphaseProxy(*proxy0);
}
m_childCollisionAlgorithms.resize(numChildren);
for (i=0;i<numChildren;i++)
{
CollisionShape* childShape = compoundShape->GetChildShape(i);
CollisionObject* colObj = static_cast<CollisionObject*>(m_childProxies[i].m_clientObject);
CollisionShape* orgShape = colObj->m_collisionShape;
btCollisionShape* childShape = compoundShape->GetChildShape(i);
btCollisionObject* colObj = static_cast<btCollisionObject*>(m_childProxies[i].m_clientObject);
btCollisionShape* orgShape = colObj->m_collisionShape;
colObj->m_collisionShape = childShape;
m_childCollisionAlgorithms[i] = m_dispatcher->FindAlgorithm(m_childProxies[i],m_otherProxy);
colObj->m_collisionShape =orgShape;
@@ -48,7 +48,7 @@ m_otherProxy(*proxy1)
}
CompoundCollisionAlgorithm::~CompoundCollisionAlgorithm()
btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm()
{
int numChildren = m_childCollisionAlgorithms.size();
int i;
@@ -58,12 +58,12 @@ CompoundCollisionAlgorithm::~CompoundCollisionAlgorithm()
}
}
void CompoundCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy* ,const DispatcherInfo& dispatchInfo)
void btCompoundCollisionAlgorithm::ProcessCollision (btBroadphaseProxy* ,btBroadphaseProxy* ,const btDispatcherInfo& dispatchInfo)
{
CollisionObject* colObj = static_cast<CollisionObject*>(m_compoundProxy.m_clientObject);
btCollisionObject* colObj = static_cast<btCollisionObject*>(m_compoundProxy.m_clientObject);
assert (colObj->m_collisionShape->IsCompound());
CompoundShape* compoundShape = static_cast<CompoundShape*>(colObj->m_collisionShape);
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->m_collisionShape);
//We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
//If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals
@@ -77,16 +77,16 @@ void CompoundCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,BroadphaseP
int i;
for (i=0;i<numChildren;i++)
{
//temporarily exchange parent CollisionShape with childShape, and recurse
CollisionShape* childShape = compoundShape->GetChildShape(i);
CollisionObject* colObj = static_cast<CollisionObject*>(m_childProxies[i].m_clientObject);
//temporarily exchange parent btCollisionShape with childShape, and recurse
btCollisionShape* childShape = compoundShape->GetChildShape(i);
btCollisionObject* colObj = static_cast<btCollisionObject*>(m_childProxies[i].m_clientObject);
//backup
SimdTransform orgTrans = colObj->m_worldTransform;
CollisionShape* orgShape = colObj->m_collisionShape;
btTransform orgTrans = colObj->m_worldTransform;
btCollisionShape* orgShape = colObj->m_collisionShape;
SimdTransform childTrans = compoundShape->GetChildTransform(i);
SimdTransform newChildWorldTrans = orgTrans*childTrans ;
btTransform childTrans = compoundShape->GetChildTransform(i);
btTransform newChildWorldTrans = orgTrans*childTrans ;
colObj->m_worldTransform = newChildWorldTrans;
colObj->m_collisionShape = childShape;
@@ -97,12 +97,12 @@ void CompoundCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,BroadphaseP
}
}
float CompoundCollisionAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo)
float btCompoundCollisionAlgorithm::CalculateTimeOfImpact(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,const btDispatcherInfo& dispatchInfo)
{
CollisionObject* colObj = static_cast<CollisionObject*>(m_compoundProxy.m_clientObject);
btCollisionObject* colObj = static_cast<btCollisionObject*>(m_compoundProxy.m_clientObject);
assert (colObj->m_collisionShape->IsCompound());
CompoundShape* compoundShape = static_cast<CompoundShape*>(colObj->m_collisionShape);
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->m_collisionShape);
//We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
//If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals
@@ -117,16 +117,16 @@ float CompoundCollisionAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,
int i;
for (i=0;i<numChildren;i++)
{
//temporarily exchange parent CollisionShape with childShape, and recurse
CollisionShape* childShape = compoundShape->GetChildShape(i);
CollisionObject* colObj = static_cast<CollisionObject*>(m_childProxies[i].m_clientObject);
//temporarily exchange parent btCollisionShape with childShape, and recurse
btCollisionShape* childShape = compoundShape->GetChildShape(i);
btCollisionObject* colObj = static_cast<btCollisionObject*>(m_childProxies[i].m_clientObject);
//backup
SimdTransform orgTrans = colObj->m_worldTransform;
CollisionShape* orgShape = colObj->m_collisionShape;
btTransform orgTrans = colObj->m_worldTransform;
btCollisionShape* orgShape = colObj->m_collisionShape;
SimdTransform childTrans = compoundShape->GetChildTransform(i);
SimdTransform newChildWorldTrans = orgTrans*childTrans ;
btTransform childTrans = compoundShape->GetChildTransform(i);
btTransform newChildWorldTrans = orgTrans*childTrans ;
colObj->m_worldTransform = newChildWorldTrans;
colObj->m_collisionShape = childShape;