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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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26
src/BulletCollision/CollisionShapes/btSphereShape.cpp
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@@ -16,20 +16,20 @@ subject to the following restrictions:
#include "btSphereShape.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
#include "LinearMath/SimdQuaternion.h"
#include "LinearMath/btQuaternion.h"
SphereShape ::SphereShape (SimdScalar radius)
btSphereShape ::btSphereShape (btScalar radius)
: m_radius(radius)
{
}
SimdVector3 SphereShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
btVector3 btSphereShape::LocalGetSupportingVertexWithoutMargin(const btVector3& vec)const
{
return SimdVector3(0.f,0.f,0.f);
return btVector3(0.f,0.f,0.f);
}
void SphereShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
void btSphereShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
for (int i=0;i<numVectors;i++)
{
@@ -38,12 +38,12 @@ void SphereShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVe
}
SimdVector3 SphereShape::LocalGetSupportingVertex(const SimdVector3& vec)const
btVector3 btSphereShape::LocalGetSupportingVertex(const btVector3& vec)const
{
SimdVector3 supVertex;
btVector3 supVertex;
supVertex = LocalGetSupportingVertexWithoutMargin(vec);
SimdVector3 vecnorm = vec;
btVector3 vecnorm = vec;
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
{
vecnorm.setValue(-1.f,-1.f,-1.f);
@@ -55,19 +55,19 @@ SimdVector3 SphereShape::LocalGetSupportingVertex(const SimdVector3& vec)const
//broken due to scaling
void SphereShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
void btSphereShape::GetAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
const SimdVector3& center = t.getOrigin();
SimdVector3 extent(GetMargin(),GetMargin(),GetMargin());
const btVector3& center = t.getOrigin();
btVector3 extent(GetMargin(),GetMargin(),GetMargin());
aabbMin = center - extent;
aabbMax = center + extent;
}
void SphereShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
void btSphereShape::CalculateLocalInertia(btScalar mass,btVector3& inertia)
{
SimdScalar elem = 0.4f * mass * GetMargin()*GetMargin();
btScalar elem = 0.4f * mass * GetMargin()*GetMargin();
inertia[0] = inertia[1] = inertia[2] = elem;
}