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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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36
src/BulletCollision/CollisionShapes/btConeShape.h
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@@ -20,7 +20,7 @@ subject to the following restrictions:
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
/// implements cone shape interface
class ConeShape : public ConvexShape
class btConeShape : public btConvexShape
{
@@ -28,40 +28,40 @@ class ConeShape : public ConvexShape
float m_radius;
float m_height;
SimdVector3 ConeLocalSupport(const SimdVector3& v) const;
btVector3 ConeLocalSupport(const btVector3& v) const;
public:
ConeShape (SimdScalar radius,SimdScalar height);
btConeShape (btScalar radius,btScalar height);
virtual SimdVector3 LocalGetSupportingVertex(const SimdVector3& vec) const;
virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec) const;
virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
virtual btVector3 LocalGetSupportingVertex(const btVector3& vec) const;
virtual btVector3 LocalGetSupportingVertexWithoutMargin(const btVector3& vec) const;
virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
float GetRadius() const { return m_radius;}
float GetHeight() const { return m_height;}
virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
virtual void CalculateLocalInertia(btScalar mass,btVector3& inertia)
{
SimdTransform identity;
btTransform identity;
identity.setIdentity();
SimdVector3 aabbMin,aabbMax;
btVector3 aabbMin,aabbMax;
GetAabb(identity,aabbMin,aabbMax);
SimdVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
btVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
float margin = GetMargin();
SimdScalar lx=2.f*(halfExtents.x()+margin);
SimdScalar ly=2.f*(halfExtents.y()+margin);
SimdScalar lz=2.f*(halfExtents.z()+margin);
const SimdScalar x2 = lx*lx;
const SimdScalar y2 = ly*ly;
const SimdScalar z2 = lz*lz;
const SimdScalar scaledmass = mass * 0.08333333f;
btScalar lx=2.f*(halfExtents.x()+margin);
btScalar ly=2.f*(halfExtents.y()+margin);
btScalar lz=2.f*(halfExtents.z()+margin);
const btScalar x2 = lx*lx;
const btScalar y2 = ly*ly;
const btScalar z2 = lz*lz;
const btScalar scaledmass = mass * 0.08333333f;
inertia = scaledmass * (SimdVector3(y2+z2,x2+z2,x2+y2));
inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
// inertia.x() = scaledmass * (y2+z2);
// inertia.y() = scaledmass * (x2+z2);