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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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52
src/BulletCollision/CollisionShapes/btCompoundShape.h
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@@ -18,69 +18,69 @@ subject to the following restrictions:
#include "btCollisionShape.h"
#include "LinearMath/SimdVector3.h"
#include "LinearMath/SimdTransform.h"
#include "LinearMath/SimdMatrix3x3.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btMatrix3x3.h"
#include <vector>
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
class OptimizedBvh;
class btOptimizedBvh;
/// CompoundShape allows to store multiple other CollisionShapes
/// This allows for concave collision objects. This is more general then the Static Concave TriangleMeshShape.
class CompoundShape : public CollisionShape
/// btCompoundShape allows to store multiple other btCollisionShapes
/// This allows for concave collision objects. This is more general then the Static Concave btTriangleMeshShape.
class btCompoundShape : public btCollisionShape
{
std::vector<SimdTransform> m_childTransforms;
std::vector<CollisionShape*> m_childShapes;
SimdVector3 m_localAabbMin;
SimdVector3 m_localAabbMax;
std::vector<btTransform> m_childTransforms;
std::vector<btCollisionShape*> m_childShapes;
btVector3 m_localAabbMin;
btVector3 m_localAabbMax;
OptimizedBvh* m_aabbTree;
btOptimizedBvh* m_aabbTree;
public:
CompoundShape();
btCompoundShape();
virtual ~CompoundShape();
virtual ~btCompoundShape();
void AddChildShape(const SimdTransform& localTransform,CollisionShape* shape);
void AddChildShape(const btTransform& localTransform,btCollisionShape* shape);
int GetNumChildShapes() const
{
return m_childShapes.size();
}
CollisionShape* GetChildShape(int index)
btCollisionShape* GetChildShape(int index)
{
return m_childShapes[index];
}
const CollisionShape* GetChildShape(int index) const
const btCollisionShape* GetChildShape(int index) const
{
return m_childShapes[index];
}
SimdTransform GetChildTransform(int index)
btTransform GetChildTransform(int index)
{
return m_childTransforms[index];
}
const SimdTransform GetChildTransform(int index) const
const btTransform GetChildTransform(int index) const
{
return m_childTransforms[index];
}
///GetAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
void GetAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
virtual void setLocalScaling(const SimdVector3& scaling)
virtual void setLocalScaling(const btVector3& scaling)
{
m_localScaling = scaling;
}
virtual const SimdVector3& getLocalScaling() const
virtual const btVector3& getLocalScaling() const
{
return m_localScaling;
}
virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
virtual void CalculateLocalInertia(btScalar mass,btVector3& inertia);
virtual int GetShapeType() const { return COMPOUND_SHAPE_PROXYTYPE;}
@@ -100,15 +100,15 @@ public:
//this is optional, but should make collision queries faster, by culling non-overlapping nodes
void CreateAabbTreeFromChildren();
const OptimizedBvh* GetAabbTree() const
const btOptimizedBvh* GetAabbTree() const
{
return m_aabbTree;
}
private:
SimdScalar m_collisionMargin;
btScalar m_collisionMargin;
protected:
SimdVector3 m_localScaling;
btVector3 m_localScaling;
};