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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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50
src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
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@@ -15,41 +15,41 @@ subject to the following restrictions:
#include "btConvexHullShape.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
#include "LinearMath/SimdQuaternion.h"
#include "LinearMath/btQuaternion.h"
ConvexHullShape ::ConvexHullShape (SimdPoint3* points,int numPoints,int stride)
btConvexHullShape ::btConvexHullShape (btPoint3* points,int numPoints,int stride)
{
m_points.resize(numPoints);
unsigned char* pointsBaseAddress = (unsigned char*)points;
for (int i=0;i<numPoints;i++)
{
SimdPoint3* point = (SimdPoint3*)(pointsBaseAddress + i*stride);
btPoint3* point = (btPoint3*)(pointsBaseAddress + i*stride);
m_points[i] = point[0];
}
}
SimdVector3 ConvexHullShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec0)const
btVector3 btConvexHullShape::LocalGetSupportingVertexWithoutMargin(const btVector3& vec0)const
{
SimdVector3 supVec(0.f,0.f,0.f);
SimdScalar newDot,maxDot = -1e30f;
btVector3 supVec(0.f,0.f,0.f);
btScalar newDot,maxDot = -1e30f;
SimdVector3 vec = vec0;
SimdScalar lenSqr = vec.length2();
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
if (lenSqr < 0.0001f)
{
vec.setValue(1,0,0);
} else
{
float rlen = 1.f / SimdSqrt(lenSqr );
float rlen = 1.f / btSqrt(lenSqr );
vec *= rlen;
}
for (size_t i=0;i<m_points.size();i++)
{
SimdPoint3 vtx = m_points[i] * m_localScaling;
btPoint3 vtx = m_points[i] * m_localScaling;
newDot = vec.dot(vtx);
if (newDot > maxDot)
@@ -61,9 +61,9 @@ SimdVector3 ConvexHullShape::LocalGetSupportingVertexWithoutMargin(const SimdVec
return supVec;
}
void ConvexHullShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
void btConvexHullShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
SimdScalar newDot;
btScalar newDot;
//use 'w' component of supportVerticesOut?
{
for (int i=0;i<numVectors;i++)
@@ -73,11 +73,11 @@ void ConvexHullShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const Si
}
for (size_t i=0;i<m_points.size();i++)
{
SimdPoint3 vtx = m_points[i] * m_localScaling;
btPoint3 vtx = m_points[i] * m_localScaling;
for (int j=0;j<numVectors;j++)
{
const SimdVector3& vec = vectors[j];
const btVector3& vec = vectors[j];
newDot = vec.dot(vtx);
if (newDot > supportVerticesOut[j][3])
@@ -95,13 +95,13 @@ void ConvexHullShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const Si
SimdVector3 ConvexHullShape::LocalGetSupportingVertex(const SimdVector3& vec)const
btVector3 btConvexHullShape::LocalGetSupportingVertex(const btVector3& vec)const
{
SimdVector3 supVertex = LocalGetSupportingVertexWithoutMargin(vec);
btVector3 supVertex = LocalGetSupportingVertexWithoutMargin(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);
@@ -121,18 +121,18 @@ SimdVector3 ConvexHullShape::LocalGetSupportingVertex(const SimdVector3& vec)con
//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
//Please note that you can debug-draw ConvexHullShape with the Raytracer Demo
int ConvexHullShape::GetNumVertices() const
//Please note that you can debug-draw btConvexHullShape with the Raytracer Demo
int btConvexHullShape::GetNumVertices() const
{
return m_points.size();
}
int ConvexHullShape::GetNumEdges() const
int btConvexHullShape::GetNumEdges() const
{
return m_points.size()*m_points.size();
}
void ConvexHullShape::GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const
void btConvexHullShape::GetEdge(int i,btPoint3& pa,btPoint3& pb) const
{
int index0 = i%m_points.size();
@@ -141,23 +141,23 @@ void ConvexHullShape::GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const
pb = m_points[index1]*m_localScaling;
}
void ConvexHullShape::GetVertex(int i,SimdPoint3& vtx) const
void btConvexHullShape::GetVertex(int i,btPoint3& vtx) const
{
vtx = m_points[i]*m_localScaling;
}
int ConvexHullShape::GetNumPlanes() const
int btConvexHullShape::GetNumPlanes() const
{
return 0;
}
void ConvexHullShape::GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const
void btConvexHullShape::GetPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const
{
assert(0);
}
//not yet
bool ConvexHullShape::IsInside(const SimdPoint3& pt,SimdScalar tolerance) const
bool btConvexHullShape::IsInside(const btPoint3& pt,btScalar tolerance) const
{
assert(0);
return false;