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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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30
src/BulletCollision/CollisionShapes/btConeShape.cpp
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@@ -14,7 +14,7 @@ subject to the following restrictions:
*/
#include "btConeShape.h"
#include "LinearMath/SimdPoint3.h"
#include "LinearMath/btPoint3.h"
#ifdef WIN32
static int coneindices[3] = {1,2,0};
@@ -22,23 +22,23 @@ static int coneindices[3] = {1,2,0};
static int coneindices[3] = {2,1,0};
#endif
ConeShape::ConeShape (SimdScalar radius,SimdScalar height):
btConeShape::btConeShape (btScalar radius,btScalar height):
m_radius (radius),
m_height(height)
{
SimdVector3 halfExtents;
btVector3 halfExtents;
m_sinAngle = (m_radius / sqrt(m_radius * m_radius + m_height * m_height));
}
SimdVector3 ConeShape::ConeLocalSupport(const SimdVector3& v) const
btVector3 btConeShape::ConeLocalSupport(const btVector3& v) const
{
float halfHeight = m_height * 0.5f;
if (v[coneindices[1]] > v.length() * m_sinAngle)
{
SimdVector3 tmp;
btVector3 tmp;
tmp[coneindices[0]] = 0.f;
tmp[coneindices[1]] = halfHeight;
@@ -46,17 +46,17 @@ SimdVector3 ConeShape::ConeLocalSupport(const SimdVector3& v) const
return tmp;
}
else {
SimdScalar s = SimdSqrt(v[coneindices[0]] * v[coneindices[0]] + v[coneindices[2]] * v[coneindices[2]]);
btScalar s = btSqrt(v[coneindices[0]] * v[coneindices[0]] + v[coneindices[2]] * v[coneindices[2]]);
if (s > SIMD_EPSILON) {
SimdScalar d = m_radius / s;
SimdVector3 tmp;
btScalar d = m_radius / s;
btVector3 tmp;
tmp[coneindices[0]] = v[coneindices[0]] * d;
tmp[coneindices[1]] = -halfHeight;
tmp[coneindices[2]] = v[coneindices[2]] * d;
return tmp;
}
else {
SimdVector3 tmp;
btVector3 tmp;
tmp[coneindices[0]] = 0.f;
tmp[coneindices[1]] = -halfHeight;
tmp[coneindices[2]] = 0.f;
@@ -66,27 +66,27 @@ SimdVector3 ConeShape::ConeLocalSupport(const SimdVector3& v) const
}
SimdVector3 ConeShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec) const
btVector3 btConeShape::LocalGetSupportingVertexWithoutMargin(const btVector3& vec) const
{
return ConeLocalSupport(vec);
}
void ConeShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
void btConeShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
for (int i=0;i<numVectors;i++)
{
const SimdVector3& vec = vectors[i];
const btVector3& vec = vectors[i];
supportVerticesOut[i] = ConeLocalSupport(vec);
}
}
SimdVector3 ConeShape::LocalGetSupportingVertex(const SimdVector3& vec) const
btVector3 btConeShape::LocalGetSupportingVertex(const btVector3& vec) const
{
SimdVector3 supVertex = ConeLocalSupport(vec);
btVector3 supVertex = ConeLocalSupport(vec);
if ( GetMargin()!=0.f )
{
SimdVector3 vecnorm = vec;
btVector3 vecnorm = vec;
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
{
vecnorm.setValue(-1.f,-1.f,-1.f);