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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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34
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
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@@ -17,11 +17,11 @@ subject to the following restrictions:
#define PERSISTENT_MANIFOLD_H
#include "LinearMath/SimdVector3.h"
#include "LinearMath/SimdTransform.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "btManifoldPoint.h"
struct CollisionResult;
struct btCollisionResult;
///contact breaking and merging treshold
extern float gContactBreakingTreshold;
@@ -36,10 +36,10 @@ extern ContactDestroyedCallback gContactDestroyedCallback;
///PersistentManifold maintains contact points, and reduces them to 4.
///It does contact filtering/contact reduction.
class PersistentManifold
class btPersistentManifold
{
ManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE];
btManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE];
/// this two body pointers can point to the physics rigidbody class.
/// void* will allow any rigidbody class
@@ -49,17 +49,17 @@ class PersistentManifold
/// sort cached points so most isolated points come first
int SortCachedPoints(const ManifoldPoint& pt);
int SortCachedPoints(const btManifoldPoint& pt);
int FindContactPoint(const ManifoldPoint* unUsed, int numUnused,const ManifoldPoint& pt);
int FindContactPoint(const btManifoldPoint* unUsed, int numUnused,const btManifoldPoint& pt);
public:
int m_index1;
PersistentManifold();
btPersistentManifold();
PersistentManifold(void* body0,void* body1)
btPersistentManifold(void* body0,void* body1)
: m_body0(body0),m_body1(body1),m_cachedPoints(0)
{
}
@@ -76,7 +76,7 @@ public:
m_body1 = body1;
}
void ClearUserCache(ManifoldPoint& pt);
void ClearUserCache(btManifoldPoint& pt);
#ifdef DEBUG_PERSISTENCY
void DebugPersistency();
@@ -84,13 +84,13 @@ public:
inline int GetNumContacts() const { return m_cachedPoints;}
inline const ManifoldPoint& GetContactPoint(int index) const
inline const btManifoldPoint& GetContactPoint(int index) const
{
ASSERT(index < m_cachedPoints);
return m_pointCache[index];
}
inline ManifoldPoint& GetContactPoint(int index)
inline btManifoldPoint& GetContactPoint(int index)
{
ASSERT(index < m_cachedPoints);
return m_pointCache[index];
@@ -99,9 +99,9 @@ public:
/// todo: get this margin from the current physics / collision environment
float GetContactBreakingTreshold() const;
int GetCacheEntry(const ManifoldPoint& newPoint) const;
int GetCacheEntry(const btManifoldPoint& newPoint) const;
void AddManifoldPoint( const ManifoldPoint& newPoint);
void AddManifoldPoint( const btManifoldPoint& newPoint);
void RemoveContactPoint (int index)
{
@@ -113,7 +113,7 @@ public:
m_pointCache[lastUsedIndex].m_userPersistentData = 0;
m_cachedPoints--;
}
void ReplaceContactPoint(const ManifoldPoint& newPoint,int insertIndex)
void ReplaceContactPoint(const btManifoldPoint& newPoint,int insertIndex)
{
assert(ValidContactDistance(newPoint));
@@ -122,12 +122,12 @@ public:
m_pointCache[insertIndex] = newPoint;
}
bool ValidContactDistance(const ManifoldPoint& pt) const
bool ValidContactDistance(const btManifoldPoint& pt) const
{
return pt.m_distance1 <= GetContactBreakingTreshold();
}
/// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
void RefreshContactPoints( const SimdTransform& trA,const SimdTransform& trB);
void RefreshContactPoints( const btTransform& trA,const btTransform& trB);
void ClearManifold();