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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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32
src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
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@@ -22,12 +22,12 @@ subject to the following restrictions:
///This is to allow MaterialCombiner/Custom Friction/Restitution values
ContactAddedCallback gContactAddedCallback=0;
///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= CollisionObject::customMaterialCallback;
inline SimdScalar calculateCombinedFriction(const CollisionObject* body0,const CollisionObject* body1)
///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
inline btScalar calculateCombinedFriction(const btCollisionObject* body0,const btCollisionObject* body1)
{
SimdScalar friction = body0->getFriction() * body1->getFriction();
btScalar friction = body0->getFriction() * body1->getFriction();
const SimdScalar MAX_FRICTION = 10.f;
const btScalar MAX_FRICTION = 10.f;
if (friction < -MAX_FRICTION)
friction = -MAX_FRICTION;
if (friction > MAX_FRICTION)
@@ -36,14 +36,14 @@ inline SimdScalar calculateCombinedFriction(const CollisionObject* body0,const C
}
inline SimdScalar calculateCombinedRestitution(const CollisionObject* body0,const CollisionObject* body1)
inline btScalar calculateCombinedRestitution(const btCollisionObject* body0,const btCollisionObject* body1)
{
return body0->getRestitution() * body1->getRestitution();
}
ManifoldResult::ManifoldResult(CollisionObject* body0,CollisionObject* body1,PersistentManifold* manifoldPtr)
btManifoldResult::btManifoldResult(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* manifoldPtr)
:m_manifoldPtr(manifoldPtr),
m_body0(body0),
m_body1(body1)
@@ -51,21 +51,21 @@ ManifoldResult::ManifoldResult(CollisionObject* body0,CollisionObject* body1,Per
}
void ManifoldResult::AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
void btManifoldResult::AddContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,float depth)
{
if (depth > m_manifoldPtr->GetContactBreakingTreshold())
return;
SimdTransform transAInv = m_body0->m_cachedInvertedWorldTransform;
SimdTransform transBInv= m_body1->m_cachedInvertedWorldTransform;
btTransform transAInv = m_body0->m_cachedInvertedWorldTransform;
btTransform transBInv= m_body1->m_cachedInvertedWorldTransform;
//transAInv = m_body0->m_worldTransform.inverse();
//transBInv= m_body1->m_worldTransform.inverse();
SimdVector3 pointA = pointInWorld + normalOnBInWorld * depth;
SimdVector3 localA = transAInv(pointA );
SimdVector3 localB = transBInv(pointInWorld);
ManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
btVector3 localA = transAInv(pointA );
btVector3 localB = transBInv(pointInWorld);
btManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
@@ -74,7 +74,7 @@ void ManifoldResult::AddContactPoint(const SimdVector3& normalOnBInWorld,const S
{
// This is not needed, just use the old info!
// const ManifoldPoint& oldPoint = m_manifoldPtr->GetContactPoint(insertIndex);
// const btManifoldPoint& oldPoint = m_manifoldPtr->GetContactPoint(insertIndex);
// newPt.CopyPersistentInformation(oldPoint);
// m_manifoldPtr->ReplaceContactPoint(newPt,insertIndex);
@@ -88,8 +88,8 @@ void ManifoldResult::AddContactPoint(const SimdVector3& normalOnBInWorld,const S
//User can override friction and/or restitution
if (gContactAddedCallback &&
//and if either of the two bodies requires custom material
((m_body0->m_collisionFlags & CollisionObject::customMaterialCallback) ||
(m_body1->m_collisionFlags & CollisionObject::customMaterialCallback)))
((m_body0->m_collisionFlags & btCollisionObject::customMaterialCallback) ||
(m_body1->m_collisionFlags & btCollisionObject::customMaterialCallback)))
{
//experimental feature info, for per-triangle material etc.
(*gContactAddedCallback)(newPt,m_body0,m_partId0,m_index0,m_body1,m_partId1,m_index1);