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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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60
src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
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@@ -15,9 +15,9 @@ subject to the following restrictions:
#include "btMultiSphereShape.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
#include "LinearMath/SimdQuaternion.h"
#include "LinearMath/btQuaternion.h"
MultiSphereShape::MultiSphereShape (const SimdVector3& inertiaHalfExtents,const SimdVector3* positions,const SimdScalar* radi,int numSpheres)
btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,const btVector3* positions,const btScalar* radi,int numSpheres)
:m_inertiaHalfExtents(inertiaHalfExtents)
{
m_minRadius = 1e30f;
@@ -37,30 +37,30 @@ MultiSphereShape::MultiSphereShape (const SimdVector3& inertiaHalfExtents,const
SimdVector3 MultiSphereShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec0)const
btVector3 btMultiSphereShape::LocalGetSupportingVertexWithoutMargin(const btVector3& vec0)const
{
int i;
SimdVector3 supVec(0,0,0);
btVector3 supVec(0,0,0);
SimdScalar maxDot(-1e30f);
btScalar 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;
}
SimdVector3 vtx;
SimdScalar newDot;
btVector3 vtx;
btScalar newDot;
const SimdVector3* pos = &m_localPositions[0];
const SimdScalar* rad = &m_radi[0];
const btVector3* pos = &m_localPositions[0];
const btScalar* rad = &m_radi[0];
for (i=0;i<m_numSpheres;i++)
{
@@ -79,20 +79,20 @@ MultiSphereShape::MultiSphereShape (const SimdVector3& inertiaHalfExtents,const
}
void MultiSphereShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
void btMultiSphereShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
for (int j=0;j<numVectors;j++)
{
SimdScalar maxDot(-1e30f);
btScalar maxDot(-1e30f);
const SimdVector3& vec = vectors[j];
const btVector3& vec = vectors[j];
SimdVector3 vtx;
SimdScalar newDot;
btVector3 vtx;
btScalar newDot;
const SimdVector3* pos = &m_localPositions[0];
const SimdScalar* rad = &m_radi[0];
const btVector3* pos = &m_localPositions[0];
const btScalar* rad = &m_radi[0];
for (int i=0;i<m_numSpheres;i++)
{
@@ -116,27 +116,27 @@ MultiSphereShape::MultiSphereShape (const SimdVector3& inertiaHalfExtents,const
void MultiSphereShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
void btMultiSphereShape::CalculateLocalInertia(btScalar mass,btVector3& inertia)
{
//as an approximation, take the inertia of the box that bounds the spheres
SimdTransform ident;
btTransform ident;
ident.setIdentity();
// SimdVector3 aabbMin,aabbMax;
// btVector3 aabbMin,aabbMax;
// GetAabb(ident,aabbMin,aabbMax);
SimdVector3 halfExtents = m_inertiaHalfExtents;//(aabbMax - aabbMin)* 0.5f;
btVector3 halfExtents = m_inertiaHalfExtents;//(aabbMax - aabbMin)* 0.5f;
float margin = CONVEX_DISTANCE_MARGIN;
SimdScalar lx=2.f*(halfExtents[0]+margin);
SimdScalar ly=2.f*(halfExtents[1]+margin);
SimdScalar lz=2.f*(halfExtents[2]+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[0]+margin);
btScalar ly=2.f*(halfExtents[1]+margin);
btScalar lz=2.f*(halfExtents[2]+margin);
const btScalar x2 = lx*lx;
const btScalar y2 = ly*ly;
const btScalar z2 = lz*lz;
const btScalar scaledmass = mass * 0.08333333f;
inertia[0] = scaledmass * (y2+z2);
inertia[1] = scaledmass * (x2+z2);