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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/NarrowPhaseCollision/btGjkPairDetector.cpp
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@@ -22,14 +22,14 @@ subject to the following restrictions:
#include <stdio.h> //for debug printf
#endif
static const SimdScalar rel_error = SimdScalar(1.0e-5);
SimdScalar rel_error2 = rel_error * rel_error;
static const btScalar rel_error = btScalar(1.0e-5);
btScalar rel_error2 = rel_error * rel_error;
float maxdist2 = 1.e30f;
int gGjkMaxIter=1000;
GjkPairDetector::GjkPairDetector(ConvexShape* objectA,ConvexShape* objectB,SimplexSolverInterface* simplexSolver,ConvexPenetrationDepthSolver* penetrationDepthSolver)
btGjkPairDetector::btGjkPairDetector(btConvexShape* objectA,btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver)
:m_cachedSeparatingAxis(0.f,0.f,1.f),
m_penetrationDepthSolver(penetrationDepthSolver),
m_simplexSolver(simplexSolver),
@@ -43,11 +43,11 @@ m_index1(-1)
{
}
void GjkPairDetector::GetClosestPoints(const ClosestPointInput& input,Result& output,class IDebugDraw* debugDraw)
void btGjkPairDetector::GetClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw)
{
SimdScalar distance=0.f;
SimdVector3 normalInB(0.f,0.f,0.f);
SimdVector3 pointOnA,pointOnB;
btScalar distance=0.f;
btVector3 normalInB(0.f,0.f,0.f);
btVector3 pointOnA,pointOnB;
float marginA = m_minkowskiA->GetMargin();
float marginB = m_minkowskiB->GetMargin();
@@ -66,10 +66,10 @@ int curIter = 0;
bool checkPenetration = true;
{
SimdScalar squaredDistance = SIMD_INFINITY;
SimdScalar delta = 0.f;
btScalar squaredDistance = SIMD_INFINITY;
btScalar delta = 0.f;
SimdScalar margin = marginA + marginB;
btScalar margin = marginA + marginB;
@@ -77,11 +77,11 @@ int curIter = 0;
while (true)
{
//degeneracy, this is typically due to invalid/uninitialized worldtransforms for a CollisionObject
//degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject
if (curIter++ > gGjkMaxIter)
{
#if defined(DEBUG) || defined (_DEBUG)
printf("GjkPairDetector maxIter exceeded:%i\n",curIter);
printf("btGjkPairDetector maxIter exceeded:%i\n",curIter);
printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n",
m_cachedSeparatingAxis.getX(),
m_cachedSeparatingAxis.getY(),
@@ -94,19 +94,19 @@ int curIter = 0;
}
SimdVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis();
SimdVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis();
btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis();
btVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis();
SimdVector3 pInA = m_minkowskiA->LocalGetSupportingVertexWithoutMargin(seperatingAxisInA);
SimdVector3 qInB = m_minkowskiB->LocalGetSupportingVertexWithoutMargin(seperatingAxisInB);
SimdPoint3 pWorld = input.m_transformA(pInA);
SimdPoint3 qWorld = input.m_transformB(qInB);
btVector3 pInA = m_minkowskiA->LocalGetSupportingVertexWithoutMargin(seperatingAxisInA);
btVector3 qInB = m_minkowskiB->LocalGetSupportingVertexWithoutMargin(seperatingAxisInB);
btPoint3 pWorld = input.m_transformA(pInA);
btPoint3 qWorld = input.m_transformB(qInB);
SimdVector3 w = pWorld - qWorld;
btVector3 w = pWorld - qWorld;
delta = m_cachedSeparatingAxis.dot(w);
// potential exit, they don't overlap
if ((delta > SimdScalar(0.0)) && (delta * delta > squaredDistance * input.m_maximumDistanceSquared))
if ((delta > btScalar(0.0)) && (delta * delta > squaredDistance * input.m_maximumDistanceSquared))
{
checkPenetration = false;
break;
@@ -134,7 +134,7 @@ int curIter = 0;
break;
}
SimdScalar previousSquaredDistance = squaredDistance;
btScalar previousSquaredDistance = squaredDistance;
squaredDistance = m_cachedSeparatingAxis.length2();
//redundant m_simplexSolver->compute_points(pointOnA, pointOnB);
@@ -165,10 +165,10 @@ int curIter = 0;
//valid normal
if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON))
{
float rlen = 1.f / SimdSqrt(lenSqr );
float rlen = 1.f / btSqrt(lenSqr );
normalInB *= rlen; //normalize
SimdScalar s = SimdSqrt(squaredDistance);
ASSERT(s > SimdScalar(0.0));
btScalar s = btSqrt(squaredDistance);
ASSERT(s > btScalar(0.0));
pointOnA -= m_cachedSeparatingAxis * (marginA / s);
pointOnB += m_cachedSeparatingAxis * (marginB / s);
distance = ((1.f/rlen) - margin);
@@ -198,7 +198,7 @@ int curIter = 0;
float lenSqr = normalInB.length2();
if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON))
{
normalInB /= SimdSqrt(lenSqr);
normalInB /= btSqrt(lenSqr);
distance = -(pointOnA-pointOnB).length();
} else
{