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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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80
src/BulletCollision/CollisionShapes/btBoxShape.h
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@@ -19,82 +19,82 @@ subject to the following restrictions:
#include "btPolyhedralConvexShape.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "LinearMath/SimdPoint3.h"
#include "LinearMath/SimdMinMax.h"
#include "LinearMath/btPoint3.h"
#include "LinearMath/btSimdMinMax.h"
///BoxShape implements both a feature based (vertex/edge/plane) and implicit (getSupportingVertex) Box
class BoxShape: public PolyhedralConvexShape
class btBoxShape: public btPolyhedralConvexShape
{
SimdVector3 m_boxHalfExtents1;
btVector3 m_boxHalfExtents1;
public:
SimdVector3 GetHalfExtents() const;
btVector3 GetHalfExtents() const;
//{ return m_boxHalfExtents1 * m_localScaling;}
//const SimdVector3& GetHalfExtents() const{ return m_boxHalfExtents1;}
//const btVector3& GetHalfExtents() const{ return m_boxHalfExtents1;}
virtual int GetShapeType() const { return BOX_SHAPE_PROXYTYPE;}
virtual SimdVector3 LocalGetSupportingVertex(const SimdVector3& vec) const
virtual btVector3 LocalGetSupportingVertex(const btVector3& vec) const
{
SimdVector3 halfExtents = GetHalfExtents();
btVector3 halfExtents = GetHalfExtents();
SimdVector3 supVertex;
supVertex = SimdPoint3(vec.x() < SimdScalar(0.0f) ? -halfExtents.x() : halfExtents.x(),
vec.y() < SimdScalar(0.0f) ? -halfExtents.y() : halfExtents.y(),
vec.z() < SimdScalar(0.0f) ? -halfExtents.z() : halfExtents.z());
btVector3 supVertex;
supVertex = btPoint3(vec.x() < btScalar(0.0f) ? -halfExtents.x() : halfExtents.x(),
vec.y() < btScalar(0.0f) ? -halfExtents.y() : halfExtents.y(),
vec.z() < btScalar(0.0f) ? -halfExtents.z() : halfExtents.z());
return supVertex;
}
virtual inline SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
virtual inline btVector3 LocalGetSupportingVertexWithoutMargin(const btVector3& vec)const
{
SimdVector3 halfExtents = GetHalfExtents();
SimdVector3 margin(GetMargin(),GetMargin(),GetMargin());
btVector3 halfExtents = GetHalfExtents();
btVector3 margin(GetMargin(),GetMargin(),GetMargin());
halfExtents -= margin;
return SimdVector3(vec.x() < SimdScalar(0.0f) ? -halfExtents.x() : halfExtents.x(),
vec.y() < SimdScalar(0.0f) ? -halfExtents.y() : halfExtents.y(),
vec.z() < SimdScalar(0.0f) ? -halfExtents.z() : halfExtents.z());
return btVector3(vec.x() < btScalar(0.0f) ? -halfExtents.x() : halfExtents.x(),
vec.y() < btScalar(0.0f) ? -halfExtents.y() : halfExtents.y(),
vec.z() < btScalar(0.0f) ? -halfExtents.z() : halfExtents.z());
}
virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
SimdVector3 halfExtents = GetHalfExtents();
SimdVector3 margin(GetMargin(),GetMargin(),GetMargin());
btVector3 halfExtents = GetHalfExtents();
btVector3 margin(GetMargin(),GetMargin(),GetMargin());
halfExtents -= margin;
for (int i=0;i<numVectors;i++)
{
const SimdVector3& vec = vectors[i];
supportVerticesOut[i].setValue(vec.x() < SimdScalar(0.0f) ? -halfExtents.x() : halfExtents.x(),
vec.y() < SimdScalar(0.0f) ? -halfExtents.y() : halfExtents.y(),
vec.z() < SimdScalar(0.0f) ? -halfExtents.z() : halfExtents.z());
const btVector3& vec = vectors[i];
supportVerticesOut[i].setValue(vec.x() < btScalar(0.0f) ? -halfExtents.x() : halfExtents.x(),
vec.y() < btScalar(0.0f) ? -halfExtents.y() : halfExtents.y(),
vec.z() < btScalar(0.0f) ? -halfExtents.z() : halfExtents.z());
}
}
BoxShape( const SimdVector3& boxHalfExtents) : m_boxHalfExtents1(boxHalfExtents){};
btBoxShape( const btVector3& boxHalfExtents) : m_boxHalfExtents1(boxHalfExtents){};
virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
virtual void GetAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
virtual void CalculateLocalInertia(btScalar mass,btVector3& inertia);
virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const
virtual void GetPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const
{
//this plane might not be aligned...
SimdVector4 plane ;
btVector4 plane ;
GetPlaneEquation(plane,i);
planeNormal = SimdVector3(plane.getX(),plane.getY(),plane.getZ());
planeNormal = btVector3(plane.getX(),plane.getY(),plane.getZ());
planeSupport = LocalGetSupportingVertex(-planeNormal);
}
@@ -115,20 +115,20 @@ public:
}
virtual void GetVertex(int i,SimdVector3& vtx) const
virtual void GetVertex(int i,btVector3& vtx) const
{
SimdVector3 halfExtents = GetHalfExtents();
btVector3 halfExtents = GetHalfExtents();
vtx = SimdVector3(
vtx = btVector3(
halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1),
halfExtents.y() * (1-((i&2)>>1)) - halfExtents.y() * ((i&2)>>1),
halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2));
}
virtual void GetPlaneEquation(SimdVector4& plane,int i) const
virtual void GetPlaneEquation(btVector4& plane,int i) const
{
SimdVector3 halfExtents = GetHalfExtents();
btVector3 halfExtents = GetHalfExtents();
switch (i)
{
@@ -162,7 +162,7 @@ public:
}
virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const
virtual void GetEdge(int i,btPoint3& pa,btPoint3& pb) const
//virtual void GetEdge(int i,Edge& edge) const
{
int edgeVert0 = 0;
@@ -233,11 +233,11 @@ public:
virtual bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const
virtual bool IsInside(const btPoint3& pt,btScalar tolerance) const
{
SimdVector3 halfExtents = GetHalfExtents();
btVector3 halfExtents = GetHalfExtents();
//SimdScalar minDist = 2*tolerance;
//btScalar minDist = 2*tolerance;
bool result = (pt.x() <= (halfExtents.x()+tolerance)) &&
(pt.x() >= (-halfExtents.x()-tolerance)) &&