Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

merged most of the changes from the branch into trunk, except for COLLADA, libxml and glut glitches.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

60
src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
View File

@@ -18,7 +18,7 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
#include "LinearMath/SimdTransformUtil.h"
#include "LinearMath/btTransformUtil.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "btGjkPairDetector.h"
@@ -26,7 +26,7 @@ subject to the following restrictions:
ContinuousConvexCollision::ContinuousConvexCollision ( ConvexShape* convexA,ConvexShape* convexB,SimplexSolverInterface* simplexSolver, ConvexPenetrationDepthSolver* penetrationDepthSolver)
btContinuousConvexCollision::btContinuousConvexCollision ( btConvexShape* convexA,btConvexShape* convexB,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver)
:m_simplexSolver(simplexSolver),
m_penetrationDepthSolver(penetrationDepthSolver),
m_convexA(convexA),m_convexB(convexB)
@@ -37,37 +37,37 @@ m_convexA(convexA),m_convexB(convexB)
/// You don't want your game ever to lock-up.
#define MAX_ITERATIONS 1000
bool ContinuousConvexCollision::calcTimeOfImpact(
const SimdTransform& fromA,
const SimdTransform& toA,
const SimdTransform& fromB,
const SimdTransform& toB,
bool btContinuousConvexCollision::calcTimeOfImpact(
const btTransform& fromA,
const btTransform& toA,
const btTransform& fromB,
const btTransform& toB,
CastResult& result)
{
m_simplexSolver->reset();
/// compute linear and angular velocity for this interval, to interpolate
SimdVector3 linVelA,angVelA,linVelB,angVelB;
SimdTransformUtil::CalculateVelocity(fromA,toA,1.f,linVelA,angVelA);
SimdTransformUtil::CalculateVelocity(fromB,toB,1.f,linVelB,angVelB);
btVector3 linVelA,angVelA,linVelB,angVelB;
btTransformUtil::CalculateVelocity(fromA,toA,1.f,linVelA,angVelA);
btTransformUtil::CalculateVelocity(fromB,toB,1.f,linVelB,angVelB);
SimdScalar boundingRadiusA = m_convexA->GetAngularMotionDisc();
SimdScalar boundingRadiusB = m_convexB->GetAngularMotionDisc();
btScalar boundingRadiusA = m_convexA->GetAngularMotionDisc();
btScalar boundingRadiusB = m_convexB->GetAngularMotionDisc();
SimdScalar maxAngularProjectedVelocity = angVelA.length() * boundingRadiusA + angVelB.length() * boundingRadiusB;
btScalar maxAngularProjectedVelocity = angVelA.length() * boundingRadiusA + angVelB.length() * boundingRadiusB;
float radius = 0.001f;
SimdScalar lambda = 0.f;
SimdVector3 v(1,0,0);
btScalar lambda = 0.f;
btVector3 v(1,0,0);
int maxIter = MAX_ITERATIONS;
SimdVector3 n;
btVector3 n;
n.setValue(0.f,0.f,0.f);
bool hasResult = false;
SimdVector3 c;
btVector3 c;
float lastLambda = lambda;
//float epsilon = 0.001f;
@@ -76,21 +76,21 @@ bool ContinuousConvexCollision::calcTimeOfImpact(
//first solution, using GJK
SimdTransform identityTrans;
btTransform identityTrans;
identityTrans.setIdentity();
SphereShape raySphere(0.0f);
btSphereShape raySphere(0.0f);
raySphere.SetMargin(0.f);
// result.DrawCoordSystem(sphereTr);
PointCollector pointCollector1;
btPointCollector pointCollector1;
{
GjkPairDetector gjk(m_convexA,m_convexB,m_simplexSolver,m_penetrationDepthSolver);
GjkPairDetector::ClosestPointInput input;
btGjkPairDetector gjk(m_convexA,m_convexB,m_simplexSolver,m_penetrationDepthSolver);
btGjkPairDetector::ClosestPointInput input;
//we don't use margins during CCD
gjk.SetIgnoreMargin(true);
@@ -105,7 +105,7 @@ bool ContinuousConvexCollision::calcTimeOfImpact(
if (hasResult)
{
SimdScalar dist;
btScalar dist;
dist = pointCollector1.m_distance;
n = pointCollector1.m_normalOnBInWorld;
@@ -143,17 +143,17 @@ bool ContinuousConvexCollision::calcTimeOfImpact(
//interpolate to next lambda
SimdTransform interpolatedTransA,interpolatedTransB,relativeTrans;
btTransform interpolatedTransA,interpolatedTransB,relativeTrans;
SimdTransformUtil::IntegrateTransform(fromA,linVelA,angVelA,lambda,interpolatedTransA);
SimdTransformUtil::IntegrateTransform(fromB,linVelB,angVelB,lambda,interpolatedTransB);
btTransformUtil::IntegrateTransform(fromA,linVelA,angVelA,lambda,interpolatedTransA);
btTransformUtil::IntegrateTransform(fromB,linVelB,angVelB,lambda,interpolatedTransB);
relativeTrans = interpolatedTransB.inverseTimes(interpolatedTransA);
result.DebugDraw( lambda );
PointCollector pointCollector;
GjkPairDetector gjk(m_convexA,m_convexB,m_simplexSolver,m_penetrationDepthSolver);
GjkPairDetector::ClosestPointInput input;
btPointCollector pointCollector;
btGjkPairDetector gjk(m_convexA,m_convexB,m_simplexSolver,m_penetrationDepthSolver);
btGjkPairDetector::ClosestPointInput input;
input.m_transformA = interpolatedTransA;
input.m_transformB = interpolatedTransB;
gjk.GetClosestPoints(input,pointCollector,0);
@@ -187,7 +187,7 @@ bool ContinuousConvexCollision::calcTimeOfImpact(
/*
//todo:
//if movement away from normal, discard result
SimdVector3 move = transBLocalTo.getOrigin() - transBLocalFrom.getOrigin();
btVector3 move = transBLocalTo.getOrigin() - transBLocalFrom.getOrigin();
if (result.m_fraction < 1.f)
{
if (move.dot(result.m_normal) <= 0.f)