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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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148
src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
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@@ -20,22 +20,22 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
struct MyResult : public DiscreteCollisionDetectorInterface::Result
struct MyResult : public btDiscreteCollisionDetectorInterface::Result
{
MyResult():m_hasResult(false)
{
}
SimdVector3 m_normalOnBInWorld;
SimdVector3 m_pointInWorld;
btVector3 m_normalOnBInWorld;
btVector3 m_pointInWorld;
float m_depth;
bool m_hasResult;
virtual void SetShapeIdentifiers(int partId0,int index0, int partId1,int index1)
{
}
void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
void AddContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,float depth)
{
m_normalOnBInWorld = normalOnBInWorld;
m_pointInWorld = pointInWorld;
@@ -45,80 +45,80 @@ struct MyResult : public DiscreteCollisionDetectorInterface::Result
};
#define NUM_UNITSPHERE_POINTS 42
static SimdVector3 sPenetrationDirections[NUM_UNITSPHERE_POINTS] =
static btVector3 sPenetrationDirections[NUM_UNITSPHERE_POINTS] =
{
SimdVector3(0.000000f , -0.000000f,-1.000000f),
SimdVector3(0.723608f , -0.525725f,-0.447219f),
SimdVector3(-0.276388f , -0.850649f,-0.447219f),
SimdVector3(-0.894426f , -0.000000f,-0.447216f),
SimdVector3(-0.276388f , 0.850649f,-0.447220f),
SimdVector3(0.723608f , 0.525725f,-0.447219f),
SimdVector3(0.276388f , -0.850649f,0.447220f),
SimdVector3(-0.723608f , -0.525725f,0.447219f),
SimdVector3(-0.723608f , 0.525725f,0.447219f),
SimdVector3(0.276388f , 0.850649f,0.447219f),
SimdVector3(0.894426f , 0.000000f,0.447216f),
SimdVector3(-0.000000f , 0.000000f,1.000000f),
SimdVector3(0.425323f , -0.309011f,-0.850654f),
SimdVector3(-0.162456f , -0.499995f,-0.850654f),
SimdVector3(0.262869f , -0.809012f,-0.525738f),
SimdVector3(0.425323f , 0.309011f,-0.850654f),
SimdVector3(0.850648f , -0.000000f,-0.525736f),
SimdVector3(-0.525730f , -0.000000f,-0.850652f),
SimdVector3(-0.688190f , -0.499997f,-0.525736f),
SimdVector3(-0.162456f , 0.499995f,-0.850654f),
SimdVector3(-0.688190f , 0.499997f,-0.525736f),
SimdVector3(0.262869f , 0.809012f,-0.525738f),
SimdVector3(0.951058f , 0.309013f,0.000000f),
SimdVector3(0.951058f , -0.309013f,0.000000f),
SimdVector3(0.587786f , -0.809017f,0.000000f),
SimdVector3(0.000000f , -1.000000f,0.000000f),
SimdVector3(-0.587786f , -0.809017f,0.000000f),
SimdVector3(-0.951058f , -0.309013f,-0.000000f),
SimdVector3(-0.951058f , 0.309013f,-0.000000f),
SimdVector3(-0.587786f , 0.809017f,-0.000000f),
SimdVector3(-0.000000f , 1.000000f,-0.000000f),
SimdVector3(0.587786f , 0.809017f,-0.000000f),
SimdVector3(0.688190f , -0.499997f,0.525736f),
SimdVector3(-0.262869f , -0.809012f,0.525738f),
SimdVector3(-0.850648f , 0.000000f,0.525736f),
SimdVector3(-0.262869f , 0.809012f,0.525738f),
SimdVector3(0.688190f , 0.499997f,0.525736f),
SimdVector3(0.525730f , 0.000000f,0.850652f),
SimdVector3(0.162456f , -0.499995f,0.850654f),
SimdVector3(-0.425323f , -0.309011f,0.850654f),
SimdVector3(-0.425323f , 0.309011f,0.850654f),
SimdVector3(0.162456f , 0.499995f,0.850654f)
btVector3(0.000000f , -0.000000f,-1.000000f),
btVector3(0.723608f , -0.525725f,-0.447219f),
btVector3(-0.276388f , -0.850649f,-0.447219f),
btVector3(-0.894426f , -0.000000f,-0.447216f),
btVector3(-0.276388f , 0.850649f,-0.447220f),
btVector3(0.723608f , 0.525725f,-0.447219f),
btVector3(0.276388f , -0.850649f,0.447220f),
btVector3(-0.723608f , -0.525725f,0.447219f),
btVector3(-0.723608f , 0.525725f,0.447219f),
btVector3(0.276388f , 0.850649f,0.447219f),
btVector3(0.894426f , 0.000000f,0.447216f),
btVector3(-0.000000f , 0.000000f,1.000000f),
btVector3(0.425323f , -0.309011f,-0.850654f),
btVector3(-0.162456f , -0.499995f,-0.850654f),
btVector3(0.262869f , -0.809012f,-0.525738f),
btVector3(0.425323f , 0.309011f,-0.850654f),
btVector3(0.850648f , -0.000000f,-0.525736f),
btVector3(-0.525730f , -0.000000f,-0.850652f),
btVector3(-0.688190f , -0.499997f,-0.525736f),
btVector3(-0.162456f , 0.499995f,-0.850654f),
btVector3(-0.688190f , 0.499997f,-0.525736f),
btVector3(0.262869f , 0.809012f,-0.525738f),
btVector3(0.951058f , 0.309013f,0.000000f),
btVector3(0.951058f , -0.309013f,0.000000f),
btVector3(0.587786f , -0.809017f,0.000000f),
btVector3(0.000000f , -1.000000f,0.000000f),
btVector3(-0.587786f , -0.809017f,0.000000f),
btVector3(-0.951058f , -0.309013f,-0.000000f),
btVector3(-0.951058f , 0.309013f,-0.000000f),
btVector3(-0.587786f , 0.809017f,-0.000000f),
btVector3(-0.000000f , 1.000000f,-0.000000f),
btVector3(0.587786f , 0.809017f,-0.000000f),
btVector3(0.688190f , -0.499997f,0.525736f),
btVector3(-0.262869f , -0.809012f,0.525738f),
btVector3(-0.850648f , 0.000000f,0.525736f),
btVector3(-0.262869f , 0.809012f,0.525738f),
btVector3(0.688190f , 0.499997f,0.525736f),
btVector3(0.525730f , 0.000000f,0.850652f),
btVector3(0.162456f , -0.499995f,0.850654f),
btVector3(-0.425323f , -0.309011f,0.850654f),
btVector3(-0.425323f , 0.309011f,0.850654f),
btVector3(0.162456f , 0.499995f,0.850654f)
};
bool MinkowskiPenetrationDepthSolver::CalcPenDepth(SimplexSolverInterface& simplexSolver,
ConvexShape* convexA,ConvexShape* convexB,
const SimdTransform& transA,const SimdTransform& transB,
SimdVector3& v, SimdPoint3& pa, SimdPoint3& pb,
class IDebugDraw* debugDraw
bool btMinkowskiPenetrationDepthSolver::CalcPenDepth(btSimplexSolverInterface& simplexSolver,
btConvexShape* convexA,btConvexShape* convexB,
const btTransform& transA,const btTransform& transB,
btVector3& v, btPoint3& pa, btPoint3& pb,
class btIDebugDraw* debugDraw
)
{
//just take fixed number of orientation, and sample the penetration depth in that direction
float minProj = 1e30f;
SimdVector3 minNorm;
SimdVector3 minVertex;
SimdVector3 minA,minB;
SimdVector3 seperatingAxisInA,seperatingAxisInB;
SimdVector3 pInA,qInB,pWorld,qWorld,w;
btVector3 minNorm;
btVector3 minVertex;
btVector3 minA,minB;
btVector3 seperatingAxisInA,seperatingAxisInB;
btVector3 pInA,qInB,pWorld,qWorld,w;
#define USE_BATCHED_SUPPORT 1
#ifdef USE_BATCHED_SUPPORT
SimdVector3 supportVerticesABatch[NUM_UNITSPHERE_POINTS];
SimdVector3 supportVerticesBBatch[NUM_UNITSPHERE_POINTS];
SimdVector3 seperatingAxisInABatch[NUM_UNITSPHERE_POINTS];
SimdVector3 seperatingAxisInBBatch[NUM_UNITSPHERE_POINTS];
btVector3 supportVerticesABatch[NUM_UNITSPHERE_POINTS];
btVector3 supportVerticesBBatch[NUM_UNITSPHERE_POINTS];
btVector3 seperatingAxisInABatch[NUM_UNITSPHERE_POINTS];
btVector3 seperatingAxisInBBatch[NUM_UNITSPHERE_POINTS];
int i;
for (i=0;i<NUM_UNITSPHERE_POINTS;i++)
{
const SimdVector3& norm = sPenetrationDirections[i];
const btVector3& norm = sPenetrationDirections[i];
seperatingAxisInABatch[i] = (-norm)* transA.getBasis();
seperatingAxisInBBatch[i] = norm * transB.getBasis();
}
@@ -127,7 +127,7 @@ bool MinkowskiPenetrationDepthSolver::CalcPenDepth(SimplexSolverInterface& simpl
convexB->BatchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInBBatch,supportVerticesBBatch,NUM_UNITSPHERE_POINTS);
for (i=0;i<NUM_UNITSPHERE_POINTS;i++)
{
const SimdVector3& norm = sPenetrationDirections[i];
const btVector3& norm = sPenetrationDirections[i];
seperatingAxisInA = seperatingAxisInABatch[i];
seperatingAxisInB = seperatingAxisInBBatch[i];
@@ -150,7 +150,7 @@ bool MinkowskiPenetrationDepthSolver::CalcPenDepth(SimplexSolverInterface& simpl
#else
for (int i=0;i<NUM_UNITSPHERE_POINTS;i++)
{
const SimdVector3& norm = sPenetrationDirections[i];
const btVector3& norm = sPenetrationDirections[i];
seperatingAxisInA = (-norm)* transA.getBasis();
seperatingAxisInB = norm* transB.getBasis();
pInA = convexA->LocalGetSupportingVertexWithoutMargin(seperatingAxisInA);
@@ -183,10 +183,10 @@ bool MinkowskiPenetrationDepthSolver::CalcPenDepth(SimplexSolverInterface& simpl
#ifdef DEBUG_DRAW
if (debugDraw)
{
SimdVector3 color(0,1,0);
btVector3 color(0,1,0);
debugDraw->DrawLine(minA,minB,color);
color = SimdVector3 (1,1,1);
SimdVector3 vec = minB-minA;
color = btVector3 (1,1,1);
btVector3 vec = minB-minA;
float prj2 = minNorm.dot(vec);
debugDraw->DrawLine(minA,minA+(minNorm*minProj),color);
@@ -195,18 +195,18 @@ bool MinkowskiPenetrationDepthSolver::CalcPenDepth(SimplexSolverInterface& simpl
GjkPairDetector gjkdet(convexA,convexB,&simplexSolver,0);
btGjkPairDetector gjkdet(convexA,convexB,&simplexSolver,0);
SimdScalar offsetDist = minProj;
SimdVector3 offset = minNorm * offsetDist;
btScalar offsetDist = minProj;
btVector3 offset = minNorm * offsetDist;
GjkPairDetector::ClosestPointInput input;
btGjkPairDetector::ClosestPointInput input;
SimdVector3 newOrg = transA.getOrigin() + offset;
btVector3 newOrg = transA.getOrigin() + offset;
SimdTransform displacedTrans = transA;
btTransform displacedTrans = transA;
displacedTrans.setOrigin(newOrg);
input.m_transformA = displacedTrans;
@@ -232,7 +232,7 @@ bool MinkowskiPenetrationDepthSolver::CalcPenDepth(SimplexSolverInterface& simpl
#ifdef DEBUG_DRAW
if (debugDraw)
{
SimdVector3 color(1,0,0);
btVector3 color(1,0,0);
debugDraw->DrawLine(pa,pb,color);
}
#endif//DEBUG_DRAW