Bart/bullet3
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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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30
src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
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@@ -16,7 +16,7 @@ subject to the following restrictions:
#include "btRaycastCallback.h"
TriangleRaycastCallback::TriangleRaycastCallback(const SimdVector3& from,const SimdVector3& to)
btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const btVector3& to)
:
m_from(from),
m_to(to),
@@ -27,18 +27,18 @@ TriangleRaycastCallback::TriangleRaycastCallback(const SimdVector3& from,const S
void TriangleRaycastCallback::ProcessTriangle(SimdVector3* triangle,int partId, int triangleIndex)
void btTriangleRaycastCallback::ProcessTriangle(btVector3* triangle,int partId, int triangleIndex)
{
const SimdVector3 &vert0=triangle[0];
const SimdVector3 &vert1=triangle[1];
const SimdVector3 &vert2=triangle[2];
const btVector3 &vert0=triangle[0];
const btVector3 &vert1=triangle[1];
const btVector3 &vert2=triangle[2];
SimdVector3 v10; v10 = vert1 - vert0 ;
SimdVector3 v20; v20 = vert2 - vert0 ;
btVector3 v10; v10 = vert1 - vert0 ;
btVector3 v20; v20 = vert2 - vert0 ;
SimdVector3 triangleNormal; triangleNormal = v10.cross( v20 );
btVector3 triangleNormal; triangleNormal = v10.cross( v20 );
const float dist = vert0.dot(triangleNormal);
float dist_a = triangleNormal.dot(m_from) ;
@@ -64,22 +64,22 @@ void TriangleRaycastCallback::ProcessTriangle(SimdVector3* triangle,int partId,
float edge_tolerance =triangleNormal.length2();
edge_tolerance *= -0.0001f;
SimdVector3 point; point.setInterpolate3( m_from, m_to, distance);
btVector3 point; point.setInterpolate3( m_from, m_to, distance);
{
SimdVector3 v0p; v0p = vert0 - point;
SimdVector3 v1p; v1p = vert1 - point;
SimdVector3 cp0; cp0 = v0p.cross( v1p );
btVector3 v0p; v0p = vert0 - point;
btVector3 v1p; v1p = vert1 - point;
btVector3 cp0; cp0 = v0p.cross( v1p );
if ( (float)(cp0.dot(triangleNormal)) >=edge_tolerance)
{
SimdVector3 v2p; v2p = vert2 - point;
SimdVector3 cp1;
btVector3 v2p; v2p = vert2 - point;
btVector3 cp1;
cp1 = v1p.cross( v2p);
if ( (float)(cp1.dot(triangleNormal)) >=edge_tolerance)
{
SimdVector3 cp2;
btVector3 cp2;
cp2 = v2p.cross(v0p);
if ( (float)(cp2.dot(triangleNormal)) >=edge_tolerance)