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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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24
src/BulletCollision/CollisionShapes/btBoxShape.cpp
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@@ -15,23 +15,23 @@ subject to the following restrictions:
#include "btBoxShape.h"
SimdVector3 BoxShape::GetHalfExtents() const
btVector3 btBoxShape::GetHalfExtents() const
{
return m_boxHalfExtents1 * m_localScaling;
}
//{
void BoxShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
void btBoxShape::GetAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
SimdVector3 halfExtents = GetHalfExtents();
btVector3 halfExtents = GetHalfExtents();
SimdMatrix3x3 abs_b = t.getBasis().absolute();
SimdPoint3 center = t.getOrigin();
SimdVector3 extent = SimdVector3(abs_b[0].dot(halfExtents),
btMatrix3x3 abs_b = t.getBasis().absolute();
btPoint3 center = t.getOrigin();
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),
abs_b[1].dot(halfExtents),
abs_b[2].dot(halfExtents));
extent += SimdVector3(GetMargin(),GetMargin(),GetMargin());
extent += btVector3(GetMargin(),GetMargin(),GetMargin());
aabbMin = center - extent;
aabbMax = center + extent;
@@ -40,14 +40,14 @@ void BoxShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3&
}
void BoxShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
void btBoxShape::CalculateLocalInertia(btScalar mass,btVector3& inertia)
{
//float margin = 0.f;
SimdVector3 halfExtents = GetHalfExtents();
btVector3 halfExtents = GetHalfExtents();
SimdScalar lx=2.f*(halfExtents.x());
SimdScalar ly=2.f*(halfExtents.y());
SimdScalar lz=2.f*(halfExtents.z());
btScalar lx=2.f*(halfExtents.x());
btScalar ly=2.f*(halfExtents.y());
btScalar lz=2.f*(halfExtents.z());
inertia[0] = mass/(12.0f) * (ly*ly + lz*lz);
inertia[1] = mass/(12.0f) * (lx*lx + lz*lz);