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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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22
src/BulletCollision/CollisionShapes/btSphereShape.h
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@@ -20,41 +20,41 @@ subject to the following restrictions:
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
///SphereShape implements an implicit (getSupportingVertex) Sphere
class SphereShape : public ConvexShape
class btSphereShape : public btConvexShape
{
SimdScalar m_radius;
btScalar m_radius;
public:
SphereShape (SimdScalar radius);
btSphereShape (btScalar radius);
virtual SimdVector3 LocalGetSupportingVertex(const SimdVector3& vec)const;
virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
virtual btVector3 LocalGetSupportingVertex(const btVector3& vec)const;
virtual btVector3 LocalGetSupportingVertexWithoutMargin(const btVector3& vec)const;
//notice that the vectors should be unit length
virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
virtual void CalculateLocalInertia(btScalar mass,btVector3& inertia);
virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
virtual void GetAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
virtual int GetShapeType() const { return SPHERE_SHAPE_PROXYTYPE; }
SimdScalar GetRadius() const { return m_radius;}
btScalar GetRadius() const { return m_radius;}
//debugging
virtual char* GetName()const {return "SPHERE";}
virtual void SetMargin(float margin)
{
ConvexShape::SetMargin(margin);
btConvexShape::SetMargin(margin);
}
virtual float GetMargin() const
{
//to improve gjk behaviour, use radius+margin as the full margin, so never get into the penetration case
//this means, non-uniform scaling is not supported anymore
return m_localScaling[0] * m_radius + ConvexShape::GetMargin();
return m_localScaling[0] * m_radius + btConvexShape::GetMargin();
}