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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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36
src/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp
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@@ -15,10 +15,10 @@ subject to the following restrictions:
#include "btStaticPlaneShape.h"
#include "LinearMath/SimdTransformUtil.h"
#include "LinearMath/btTransformUtil.h"
StaticPlaneShape::StaticPlaneShape(const SimdVector3& planeNormal,SimdScalar planeConstant)
btStaticPlaneShape::btStaticPlaneShape(const btVector3& planeNormal,btScalar planeConstant)
:m_planeNormal(planeNormal),
m_planeConstant(planeConstant),
m_localScaling(0.f,0.f,0.f)
@@ -26,17 +26,17 @@ m_localScaling(0.f,0.f,0.f)
}
StaticPlaneShape::~StaticPlaneShape()
btStaticPlaneShape::~btStaticPlaneShape()
{
}
void StaticPlaneShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
void btStaticPlaneShape::GetAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
SimdVector3 infvec (1e30f,1e30f,1e30f);
btVector3 infvec (1e30f,1e30f,1e30f);
SimdVector3 center = m_planeNormal*m_planeConstant;
btVector3 center = m_planeNormal*m_planeConstant;
aabbMin = center + infvec*m_planeNormal;
aabbMax = aabbMin;
aabbMin.setMin(center - infvec*m_planeNormal);
@@ -50,25 +50,25 @@ void StaticPlaneShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdV
void StaticPlaneShape::ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
void btStaticPlaneShape::ProcessAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
{
SimdVector3 halfExtents = (aabbMax - aabbMin) * 0.5f;
SimdScalar radius = halfExtents.length();
SimdVector3 center = (aabbMax + aabbMin) * 0.5f;
btVector3 halfExtents = (aabbMax - aabbMin) * 0.5f;
btScalar radius = halfExtents.length();
btVector3 center = (aabbMax + aabbMin) * 0.5f;
//this is where the triangles are generated, given AABB and plane equation (normal/constant)
SimdVector3 tangentDir0,tangentDir1;
btVector3 tangentDir0,tangentDir1;
//tangentDir0/tangentDir1 can be precalculated
SimdPlaneSpace1(m_planeNormal,tangentDir0,tangentDir1);
btPlaneSpace1(m_planeNormal,tangentDir0,tangentDir1);
SimdVector3 supVertex0,supVertex1;
btVector3 supVertex0,supVertex1;
SimdVector3 projectedCenter = center - (m_planeNormal.dot(center) - m_planeConstant)*m_planeNormal;
btVector3 projectedCenter = center - (m_planeNormal.dot(center) - m_planeConstant)*m_planeNormal;
SimdVector3 triangle[3];
btVector3 triangle[3];
triangle[0] = projectedCenter + tangentDir0*radius + tangentDir1*radius;
triangle[1] = projectedCenter + tangentDir0*radius - tangentDir1*radius;
triangle[2] = projectedCenter - tangentDir0*radius - tangentDir1*radius;
@@ -83,18 +83,18 @@ void StaticPlaneShape::ProcessAllTriangles(TriangleCallback* callback,const Simd
}
void StaticPlaneShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
void btStaticPlaneShape::CalculateLocalInertia(btScalar mass,btVector3& inertia)
{
//moving concave objects not supported
inertia.setValue(0.f,0.f,0.f);
}
void StaticPlaneShape::setLocalScaling(const SimdVector3& scaling)
void btStaticPlaneShape::setLocalScaling(const btVector3& scaling)
{
m_localScaling = scaling;
}
const SimdVector3& StaticPlaneShape::getLocalScaling() const
const btVector3& btStaticPlaneShape::getLocalScaling() const
{
return m_localScaling;
}