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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/btPolyhedralConvexShape.cpp
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@@ -15,7 +15,7 @@ subject to the following restrictions:
#include <BulletCollision/CollisionShapes/btPolyhedralConvexShape.h>
PolyhedralConvexShape::PolyhedralConvexShape()
btPolyhedralConvexShape::btPolyhedralConvexShape()
:m_optionalHull(0)
{
@@ -23,26 +23,26 @@ PolyhedralConvexShape::PolyhedralConvexShape()
SimdVector3 PolyhedralConvexShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec0)const
btVector3 btPolyhedralConvexShape::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;
for (i=0;i<GetNumVertices();i++)
{
@@ -59,12 +59,12 @@ SimdVector3 PolyhedralConvexShape::LocalGetSupportingVertexWithoutMargin(const S
}
void PolyhedralConvexShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
void btPolyhedralConvexShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
int i;
SimdVector3 vtx;
SimdScalar newDot;
btVector3 vtx;
btScalar newDot;
for (int i=0;i<numVectors;i++)
{
@@ -74,7 +74,7 @@ void PolyhedralConvexShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(co
for (int j=0;j<numVectors;j++)
{
const SimdVector3& vec = vectors[j];
const btVector3& vec = vectors[j];
for (i=0;i<GetNumVertices();i++)
{
@@ -92,27 +92,27 @@ void PolyhedralConvexShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(co
void PolyhedralConvexShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
void btPolyhedralConvexShape::CalculateLocalInertia(btScalar mass,btVector3& inertia)
{
//not yet, return box inertia
float margin = GetMargin();
SimdTransform ident;
btTransform ident;
ident.setIdentity();
SimdVector3 aabbMin,aabbMax;
btVector3 aabbMin,aabbMax;
GetAabb(ident,aabbMin,aabbMax);
SimdVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
btVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
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));
}