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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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66
src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp
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@@ -22,37 +22,37 @@ subject to the following restrictions:
#include "btPointCollector.h"
GjkConvexCast::GjkConvexCast(ConvexShape* convexA,ConvexShape* convexB,SimplexSolverInterface* simplexSolver)
btGjkConvexCast::btGjkConvexCast(btConvexShape* convexA,btConvexShape* convexB,btSimplexSolverInterface* simplexSolver)
:m_simplexSolver(simplexSolver),
m_convexA(convexA),
m_convexB(convexB)
{
}
bool GjkConvexCast::calcTimeOfImpact(
const SimdTransform& fromA,
const SimdTransform& toA,
const SimdTransform& fromB,
const SimdTransform& toB,
bool btGjkConvexCast::calcTimeOfImpact(
const btTransform& fromA,
const btTransform& toA,
const btTransform& fromB,
const btTransform& toB,
CastResult& result)
{
MinkowskiSumShape combi(m_convexA,m_convexB);
MinkowskiSumShape* convex = &combi;
btMinkowskiSumShape combi(m_convexA,m_convexB);
btMinkowskiSumShape* convex = &combi;
SimdTransform rayFromLocalA;
SimdTransform rayToLocalA;
btTransform rayFromLocalA;
btTransform rayToLocalA;
rayFromLocalA = fromA.inverse()* fromB;
rayToLocalA = toA.inverse()* toB;
SimdTransform trA,trB;
trA = SimdTransform(fromA);
trB = SimdTransform(fromB);
trA.setOrigin(SimdPoint3(0,0,0));
trB.setOrigin(SimdPoint3(0,0,0));
btTransform trA,trB;
trA = btTransform(fromA);
trB = btTransform(fromB);
trA.setOrigin(btPoint3(0,0,0));
trB.setOrigin(btPoint3(0,0,0));
convex->SetTransformA(trA);
convex->SetTransformB(trB);
@@ -62,38 +62,38 @@ bool GjkConvexCast::calcTimeOfImpact(
float radius = 0.01f;
SimdScalar lambda = 0.f;
SimdVector3 s = rayFromLocalA.getOrigin();
SimdVector3 r = rayToLocalA.getOrigin()-rayFromLocalA.getOrigin();
SimdVector3 x = s;
SimdVector3 n;
btScalar lambda = 0.f;
btVector3 s = rayFromLocalA.getOrigin();
btVector3 r = rayToLocalA.getOrigin()-rayFromLocalA.getOrigin();
btVector3 x = s;
btVector3 n;
n.setValue(0,0,0);
bool hasResult = false;
SimdVector3 c;
btVector3 c;
float lastLambda = lambda;
//first solution, using GJK
//no penetration support for now, perhaps pass a pointer when we really want it
ConvexPenetrationDepthSolver* penSolverPtr = 0;
btConvexPenetrationDepthSolver* penSolverPtr = 0;
SimdTransform identityTrans;
btTransform identityTrans;
identityTrans.setIdentity();
SphereShape raySphere(0.0f);
btSphereShape raySphere(0.0f);
raySphere.SetMargin(0.f);
SimdTransform sphereTr;
btTransform sphereTr;
sphereTr.setIdentity();
sphereTr.setOrigin( rayFromLocalA.getOrigin());
result.DrawCoordSystem(sphereTr);
{
PointCollector pointCollector1;
GjkPairDetector gjk(&raySphere,convex,m_simplexSolver,penSolverPtr);
btPointCollector pointCollector1;
btGjkPairDetector gjk(&raySphere,convex,m_simplexSolver,penSolverPtr);
GjkPairDetector::ClosestPointInput input;
btGjkPairDetector::ClosestPointInput input;
input.m_transformA = sphereTr;
input.m_transformB = identityTrans;
gjk.GetClosestPoints(input,pointCollector1,0);
@@ -107,7 +107,7 @@ bool GjkConvexCast::calcTimeOfImpact(
if (hasResult)
{
SimdScalar dist;
btScalar dist;
dist = (c-x).length();
if (dist < radius)
{
@@ -120,7 +120,7 @@ bool GjkConvexCast::calcTimeOfImpact(
{
n = x - c;
SimdScalar nDotr = n.dot(r);
btScalar nDotr = n.dot(r);
if (nDotr >= -(SIMD_EPSILON*SIMD_EPSILON))
return false;
@@ -135,9 +135,9 @@ bool GjkConvexCast::calcTimeOfImpact(
sphereTr.setOrigin( x );
result.DrawCoordSystem(sphereTr);
PointCollector pointCollector;
GjkPairDetector gjk(&raySphere,convex,m_simplexSolver,penSolverPtr);
GjkPairDetector::ClosestPointInput input;
btPointCollector pointCollector;
btGjkPairDetector gjk(&raySphere,convex,m_simplexSolver,penSolverPtr);
btGjkPairDetector::ClosestPointInput input;
input.m_transformA = sphereTr;
input.m_transformB = identityTrans;
gjk.GetClosestPoints(input,pointCollector,0);