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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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64
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
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@@ -15,7 +15,7 @@ subject to the following restrictions:
#include "btPersistentManifold.h"
#include "LinearMath/SimdTransform.h"
#include "LinearMath/btTransform.h"
#include <assert.h>
float gContactBreakingTreshold = 0.02f;
@@ -23,7 +23,7 @@ ContactDestroyedCallback gContactDestroyedCallback = 0;
PersistentManifold::PersistentManifold()
btPersistentManifold::btPersistentManifold()
:m_body0(0),
m_body1(0),
m_cachedPoints (0),
@@ -32,7 +32,7 @@ m_index1(0)
}
void PersistentManifold::ClearManifold()
void btPersistentManifold::ClearManifold()
{
int i;
for (i=0;i<m_cachedPoints;i++)
@@ -44,7 +44,7 @@ void PersistentManifold::ClearManifold()
#ifdef DEBUG_PERSISTENCY
#include <stdio.h>
void PersistentManifold::DebugPersistency()
void btPersistentManifold::DebugPersistency()
{
int i;
printf("DebugPersistency : numPoints %d\n",m_cachedPoints);
@@ -55,7 +55,7 @@ void PersistentManifold::DebugPersistency()
}
#endif //DEBUG_PERSISTENCY
void PersistentManifold::ClearUserCache(ManifoldPoint& pt)
void btPersistentManifold::ClearUserCache(btManifoldPoint& pt)
{
void* oldPtr = pt.m_userPersistentData;
@@ -91,7 +91,7 @@ void PersistentManifold::ClearUserCache(ManifoldPoint& pt)
}
int PersistentManifold::SortCachedPoints(const ManifoldPoint& pt)
int btPersistentManifold::SortCachedPoints(const btManifoldPoint& pt)
{
//calculate 4 possible cases areas, and take biggest area
@@ -111,55 +111,55 @@ int PersistentManifold::SortCachedPoints(const ManifoldPoint& pt)
}
#endif //KEEP_DEEPEST_POINT
SimdScalar res0(0.f),res1(0.f),res2(0.f),res3(0.f);
btScalar res0(0.f),res1(0.f),res2(0.f),res3(0.f);
if (maxPenetrationIndex != 0)
{
SimdVector3 a0 = pt.m_localPointA-m_pointCache[1].m_localPointA;
SimdVector3 b0 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA;
SimdVector3 cross = a0.cross(b0);
btVector3 a0 = pt.m_localPointA-m_pointCache[1].m_localPointA;
btVector3 b0 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA;
btVector3 cross = a0.cross(b0);
res0 = cross.length2();
}
if (maxPenetrationIndex != 1)
{
SimdVector3 a1 = pt.m_localPointA-m_pointCache[0].m_localPointA;
SimdVector3 b1 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA;
SimdVector3 cross = a1.cross(b1);
btVector3 a1 = pt.m_localPointA-m_pointCache[0].m_localPointA;
btVector3 b1 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA;
btVector3 cross = a1.cross(b1);
res1 = cross.length2();
}
if (maxPenetrationIndex != 2)
{
SimdVector3 a2 = pt.m_localPointA-m_pointCache[0].m_localPointA;
SimdVector3 b2 = m_pointCache[3].m_localPointA-m_pointCache[1].m_localPointA;
SimdVector3 cross = a2.cross(b2);
btVector3 a2 = pt.m_localPointA-m_pointCache[0].m_localPointA;
btVector3 b2 = m_pointCache[3].m_localPointA-m_pointCache[1].m_localPointA;
btVector3 cross = a2.cross(b2);
res2 = cross.length2();
}
if (maxPenetrationIndex != 3)
{
SimdVector3 a3 = pt.m_localPointA-m_pointCache[0].m_localPointA;
SimdVector3 b3 = m_pointCache[2].m_localPointA-m_pointCache[1].m_localPointA;
SimdVector3 cross = a3.cross(b3);
btVector3 a3 = pt.m_localPointA-m_pointCache[0].m_localPointA;
btVector3 b3 = m_pointCache[2].m_localPointA-m_pointCache[1].m_localPointA;
btVector3 cross = a3.cross(b3);
res3 = cross.length2();
}
SimdVector4 maxvec(res0,res1,res2,res3);
btVector4 maxvec(res0,res1,res2,res3);
int biggestarea = maxvec.closestAxis4();
return biggestarea;
}
int PersistentManifold::GetCacheEntry(const ManifoldPoint& newPoint) const
int btPersistentManifold::GetCacheEntry(const btManifoldPoint& newPoint) const
{
SimdScalar shortestDist = GetContactBreakingTreshold() * GetContactBreakingTreshold();
btScalar shortestDist = GetContactBreakingTreshold() * GetContactBreakingTreshold();
int size = GetNumContacts();
int nearestPoint = -1;
for( int i = 0; i < size; i++ )
{
const ManifoldPoint &mp = m_pointCache[i];
const btManifoldPoint &mp = m_pointCache[i];
SimdVector3 diffA = mp.m_localPointA- newPoint.m_localPointA;
const SimdScalar distToManiPoint = diffA.dot(diffA);
btVector3 diffA = mp.m_localPointA- newPoint.m_localPointA;
const btScalar distToManiPoint = diffA.dot(diffA);
if( distToManiPoint < shortestDist )
{
shortestDist = distToManiPoint;
@@ -169,7 +169,7 @@ int PersistentManifold::GetCacheEntry(const ManifoldPoint& newPoint) const
return nearestPoint;
}
void PersistentManifold::AddManifoldPoint(const ManifoldPoint& newPoint)
void btPersistentManifold::AddManifoldPoint(const btManifoldPoint& newPoint)
{
assert(ValidContactDistance(newPoint));
@@ -193,19 +193,19 @@ void PersistentManifold::AddManifoldPoint(const ManifoldPoint& newPoint)
ReplaceContactPoint(newPoint,insertIndex);
}
float PersistentManifold::GetContactBreakingTreshold() const
float btPersistentManifold::GetContactBreakingTreshold() const
{
return gContactBreakingTreshold;
}
void PersistentManifold::RefreshContactPoints(const SimdTransform& trA,const SimdTransform& trB)
void btPersistentManifold::RefreshContactPoints(const btTransform& trA,const btTransform& trB)
{
int i;
/// first refresh worldspace positions and distance
for (i=GetNumContacts()-1;i>=0;i--)
{
ManifoldPoint &manifoldPoint = m_pointCache[i];
btManifoldPoint &manifoldPoint = m_pointCache[i];
manifoldPoint.m_positionWorldOnA = trA( manifoldPoint.m_localPointA );
manifoldPoint.m_positionWorldOnB = trB( manifoldPoint.m_localPointB );
manifoldPoint.m_distance1 = (manifoldPoint.m_positionWorldOnA - manifoldPoint.m_positionWorldOnB).dot(manifoldPoint.m_normalWorldOnB);
@@ -213,12 +213,12 @@ void PersistentManifold::RefreshContactPoints(const SimdTransform& trA,const Sim
}
/// then
SimdScalar distance2d;
SimdVector3 projectedDifference,projectedPoint;
btScalar distance2d;
btVector3 projectedDifference,projectedPoint;
for (i=GetNumContacts()-1;i>=0;i--)
{
ManifoldPoint &manifoldPoint = m_pointCache[i];
btManifoldPoint &manifoldPoint = m_pointCache[i];
//contact becomes invalid when signed distance exceeds margin (projected on contactnormal direction)
if (!ValidContactDistance(manifoldPoint))
{