Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

merged most of the changes from the branch into trunk, except for COLLADA, libxml and glut glitches.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

36
src/BulletCollision/CollisionShapes/btCompoundShape.cpp
View File

@@ -19,7 +19,7 @@ subject to the following restrictions:
#include "btCollisionShape.h"
CompoundShape::CompoundShape()
btCompoundShape::btCompoundShape()
:m_localAabbMin(1e30f,1e30f,1e30f),
m_localAabbMax(-1e30f,-1e30f,-1e30f),
m_aabbTree(0),
@@ -29,17 +29,17 @@ m_localScaling(1.f,1.f,1.f)
}
CompoundShape::~CompoundShape()
btCompoundShape::~btCompoundShape()
{
}
void CompoundShape::AddChildShape(const SimdTransform& localTransform,CollisionShape* shape)
void btCompoundShape::AddChildShape(const btTransform& localTransform,btCollisionShape* shape)
{
m_childTransforms.push_back(localTransform);
m_childShapes.push_back(shape);
//extend the local aabbMin/aabbMax
SimdVector3 localAabbMin,localAabbMax;
btVector3 localAabbMin,localAabbMax;
shape->GetAabb(localTransform,localAabbMin,localAabbMax);
for (int i=0;i<3;i++)
{
@@ -58,37 +58,37 @@ void CompoundShape::AddChildShape(const SimdTransform& localTransform,CollisionS
///GetAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void CompoundShape::GetAabb(const SimdTransform& trans,SimdVector3& aabbMin,SimdVector3& aabbMax) const
void btCompoundShape::GetAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
{
SimdVector3 localHalfExtents = 0.5f*(m_localAabbMax-m_localAabbMin);
SimdVector3 localCenter = 0.5f*(m_localAabbMax+m_localAabbMin);
btVector3 localHalfExtents = 0.5f*(m_localAabbMax-m_localAabbMin);
btVector3 localCenter = 0.5f*(m_localAabbMax+m_localAabbMin);
SimdMatrix3x3 abs_b = trans.getBasis().absolute();
btMatrix3x3 abs_b = trans.getBasis().absolute();
SimdPoint3 center = trans(localCenter);
btPoint3 center = trans(localCenter);
SimdVector3 extent = SimdVector3(abs_b[0].dot(localHalfExtents),
btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
abs_b[1].dot(localHalfExtents),
abs_b[2].dot(localHalfExtents));
extent += SimdVector3(GetMargin(),GetMargin(),GetMargin());
extent += btVector3(GetMargin(),GetMargin(),GetMargin());
aabbMin = center - extent;
aabbMax = center + extent;
}
void CompoundShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
void btCompoundShape::CalculateLocalInertia(btScalar mass,btVector3& inertia)
{
//approximation: take the inertia from the aabb for now
SimdTransform ident;
btTransform ident;
ident.setIdentity();
SimdVector3 aabbMin,aabbMax;
btVector3 aabbMin,aabbMax;
GetAabb(ident,aabbMin,aabbMax);
SimdVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
btVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
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);