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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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62
src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
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@@ -15,11 +15,11 @@ subject to the following restrictions:
#include "btConvexTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
#include "LinearMath/SimdQuaternion.h"
#include "LinearMath/btQuaternion.h"
#include "BulletCollision/CollisionShapes/btStridingMeshInterface.h"
ConvexTriangleMeshShape ::ConvexTriangleMeshShape (StridingMeshInterface* meshInterface)
btConvexTriangleMeshShape ::btConvexTriangleMeshShape (btStridingMeshInterface* meshInterface)
:m_stridingMesh(meshInterface)
{
}
@@ -29,27 +29,27 @@ ConvexTriangleMeshShape ::ConvexTriangleMeshShape (StridingMeshInterface* meshIn
///It's not nice to have all this virtual function overhead, so perhaps we can also gather the points once
///but then we are duplicating
class LocalSupportVertexCallback: public InternalTriangleIndexCallback
class LocalSupportVertexCallback: public btInternalTriangleIndexCallback
{
SimdVector3 m_supportVertexLocal;
btVector3 m_supportVertexLocal;
public:
SimdScalar m_maxDot;
SimdVector3 m_supportVecLocal;
btScalar m_maxDot;
btVector3 m_supportVecLocal;
LocalSupportVertexCallback(const SimdVector3& supportVecLocal)
LocalSupportVertexCallback(const btVector3& supportVecLocal)
: m_supportVertexLocal(0.f,0.f,0.f),
m_maxDot(-1e30f),
m_supportVecLocal(supportVecLocal)
{
}
virtual void InternalProcessTriangleIndex(SimdVector3* triangle,int partId,int triangleIndex)
virtual void InternalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
{
for (int i=0;i<3;i++)
{
SimdScalar dot = m_supportVecLocal.dot(triangle[i]);
btScalar dot = m_supportVecLocal.dot(triangle[i]);
if (dot > m_maxDot)
{
m_maxDot = dot;
@@ -58,7 +58,7 @@ public:
}
}
SimdVector3 GetSupportVertexLocal()
btVector3 GetSupportVertexLocal()
{
return m_supportVertexLocal;
}
@@ -69,30 +69,30 @@ public:
SimdVector3 ConvexTriangleMeshShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec0)const
btVector3 btConvexTriangleMeshShape::LocalGetSupportingVertexWithoutMargin(const btVector3& vec0)const
{
SimdVector3 supVec(0.f,0.f,0.f);
btVector3 supVec(0.f,0.f,0.f);
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;
}
LocalSupportVertexCallback supportCallback(vec);
SimdVector3 aabbMax(1e30f,1e30f,1e30f);
btVector3 aabbMax(1e30f,1e30f,1e30f);
m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
supVec = supportCallback.GetSupportVertexLocal();
return supVec;
}
void ConvexTriangleMeshShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
void btConvexTriangleMeshShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
//use 'w' component of supportVerticesOut?
{
@@ -107,9 +107,9 @@ void ConvexTriangleMeshShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(
for (int j=0;j<numVectors;j++)
{
const SimdVector3& vec = vectors[j];
const btVector3& vec = vectors[j];
LocalSupportVertexCallback supportCallback(vec);
SimdVector3 aabbMax(1e30f,1e30f,1e30f);
btVector3 aabbMax(1e30f,1e30f,1e30f);
m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
supportVerticesOut[j] = supportCallback.GetSupportVertexLocal();
}
@@ -118,13 +118,13 @@ void ConvexTriangleMeshShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(
SimdVector3 ConvexTriangleMeshShape::LocalGetSupportingVertex(const SimdVector3& vec)const
btVector3 btConvexTriangleMeshShape::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);
@@ -144,8 +144,8 @@ SimdVector3 ConvexTriangleMeshShape::LocalGetSupportingVertex(const SimdVector3&
//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
//Please note that you can debug-draw ConvexTriangleMeshShape with the Raytracer Demo
int ConvexTriangleMeshShape::GetNumVertices() const
//Please note that you can debug-draw btConvexTriangleMeshShape with the Raytracer Demo
int btConvexTriangleMeshShape::GetNumVertices() const
{
//cache this?
assert(0);
@@ -153,34 +153,34 @@ int ConvexTriangleMeshShape::GetNumVertices() const
}
int ConvexTriangleMeshShape::GetNumEdges() const
int btConvexTriangleMeshShape::GetNumEdges() const
{
assert(0);
return 0;
}
void ConvexTriangleMeshShape::GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const
void btConvexTriangleMeshShape::GetEdge(int i,btPoint3& pa,btPoint3& pb) const
{
assert(0);
}
void ConvexTriangleMeshShape::GetVertex(int i,SimdPoint3& vtx) const
void btConvexTriangleMeshShape::GetVertex(int i,btPoint3& vtx) const
{
assert(0);
}
int ConvexTriangleMeshShape::GetNumPlanes() const
int btConvexTriangleMeshShape::GetNumPlanes() const
{
return 0;
}
void ConvexTriangleMeshShape::GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const
void btConvexTriangleMeshShape::GetPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const
{
assert(0);
}
//not yet
bool ConvexTriangleMeshShape::IsInside(const SimdPoint3& pt,SimdScalar tolerance) const
bool btConvexTriangleMeshShape::IsInside(const btPoint3& pt,btScalar tolerance) const
{
assert(0);
return false;
@@ -188,7 +188,7 @@ bool ConvexTriangleMeshShape::IsInside(const SimdPoint3& pt,SimdScalar tolerance
void ConvexTriangleMeshShape::setLocalScaling(const SimdVector3& scaling)
void btConvexTriangleMeshShape::setLocalScaling(const btVector3& scaling)
{
m_stridingMesh->setScaling(scaling);
}