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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/btTriangleShape.h
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@@ -19,13 +19,13 @@ subject to the following restrictions:
#include "btConvexShape.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
class TriangleShape : public PolyhedralConvexShape
class btTriangleShape : public btPolyhedralConvexShape
{
public:
SimdVector3 m_vertices1[3];
btVector3 m_vertices1[3];
virtual int GetNumVertices() const
@@ -33,11 +33,11 @@ public:
return 3;
}
const SimdVector3& GetVertexPtr(int index) const
const btVector3& GetVertexPtr(int index) const
{
return m_vertices1[index];
}
virtual void GetVertex(int index,SimdVector3& vert) const
virtual void GetVertex(int index,btVector3& vert) const
{
vert = m_vertices1[index];
}
@@ -51,31 +51,31 @@ public:
return 3;
}
virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const
virtual void GetEdge(int i,btPoint3& pa,btPoint3& pb) const
{
GetVertex(i,pa);
GetVertex((i+1)%3,pb);
}
virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax)const
virtual void GetAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax)const
{
// ASSERT(0);
GetAabbSlow(t,aabbMin,aabbMax);
}
SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& dir)const
btVector3 LocalGetSupportingVertexWithoutMargin(const btVector3& dir)const
{
SimdVector3 dots(dir.dot(m_vertices1[0]), dir.dot(m_vertices1[1]), dir.dot(m_vertices1[2]));
btVector3 dots(dir.dot(m_vertices1[0]), dir.dot(m_vertices1[1]), dir.dot(m_vertices1[2]));
return m_vertices1[dots.maxAxis()];
}
virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
for (int i=0;i<numVectors;i++)
{
const SimdVector3& dir = vectors[i];
SimdVector3 dots(dir.dot(m_vertices1[0]), dir.dot(m_vertices1[1]), dir.dot(m_vertices1[2]));
const btVector3& dir = vectors[i];
btVector3 dots(dir.dot(m_vertices1[0]), dir.dot(m_vertices1[1]), dir.dot(m_vertices1[2]));
supportVerticesOut[i] = m_vertices1[dots.maxAxis()];
}
@@ -83,7 +83,7 @@ public:
TriangleShape(const SimdVector3& p0,const SimdVector3& p1,const SimdVector3& p2)
btTriangleShape(const btVector3& p0,const btVector3& p1,const btVector3& p2)
{
m_vertices1[0] = p0;
m_vertices1[1] = p1;
@@ -92,7 +92,7 @@ public:
virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i) const
virtual void GetPlane(btVector3& planeNormal,btPoint3& planeSupport,int i) const
{
GetPlaneEquation(i,planeNormal,planeSupport);
}
@@ -102,31 +102,31 @@ public:
return 1;
}
void CalcNormal(SimdVector3& normal) const
void CalcNormal(btVector3& normal) const
{
normal = (m_vertices1[1]-m_vertices1[0]).cross(m_vertices1[2]-m_vertices1[0]);
normal.normalize();
}
virtual void GetPlaneEquation(int i, SimdVector3& planeNormal,SimdPoint3& planeSupport) const
virtual void GetPlaneEquation(int i, btVector3& planeNormal,btPoint3& planeSupport) const
{
CalcNormal(planeNormal);
planeSupport = m_vertices1[0];
}
virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
virtual void CalculateLocalInertia(btScalar mass,btVector3& inertia)
{
ASSERT(0);
inertia.setValue(0.f,0.f,0.f);
}
virtual bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const
virtual bool IsInside(const btPoint3& pt,btScalar tolerance) const
{
SimdVector3 normal;
btVector3 normal;
CalcNormal(normal);
//distance to plane
SimdScalar dist = pt.dot(normal);
SimdScalar planeconst = m_vertices1[0].dot(normal);
btScalar dist = pt.dot(normal);
btScalar planeconst = m_vertices1[0].dot(normal);
dist -= planeconst;
if (dist >= -tolerance && dist <= tolerance)
{
@@ -134,13 +134,13 @@ public:
int i;
for (i=0;i<3;i++)
{
SimdPoint3 pa,pb;
btPoint3 pa,pb;
GetEdge(i,pa,pb);
SimdVector3 edge = pb-pa;
SimdVector3 edgeNormal = edge.cross(normal);
btVector3 edge = pb-pa;
btVector3 edgeNormal = edge.cross(normal);
edgeNormal.normalize();
SimdScalar dist = pt.dot( edgeNormal);
SimdScalar edgeConst = pa.dot(edgeNormal);
btScalar dist = pt.dot( edgeNormal);
btScalar edgeConst = pa.dot(edgeNormal);
dist -= edgeConst;
if (dist < -tolerance)
return false;