Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

merged most of the changes from the branch into trunk, except for COLLADA, libxml and glut glitches.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

40
src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
View File

@@ -20,7 +20,7 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
SubsimplexConvexCast::SubsimplexConvexCast (ConvexShape* convexA,ConvexShape* convexB,SimplexSolverInterface* simplexSolver)
btSubsimplexConvexCast::btSubsimplexConvexCast (btConvexShape* convexA,btConvexShape* convexB,btSimplexSolverInterface* simplexSolver)
:m_simplexSolver(simplexSolver),
m_convexA(convexA),m_convexB(convexB)
{
@@ -29,19 +29,19 @@ m_convexA(convexA),m_convexB(convexB)
#define MAX_ITERATIONS 1000
bool SubsimplexConvexCast::calcTimeOfImpact(
const SimdTransform& fromA,
const SimdTransform& toA,
const SimdTransform& fromB,
const SimdTransform& toB,
bool btSubsimplexConvexCast::calcTimeOfImpact(
const btTransform& fromA,
const btTransform& toA,
const btTransform& fromB,
const btTransform& toB,
CastResult& result)
{
MinkowskiSumShape combi(m_convexA,m_convexB);
MinkowskiSumShape* convex = &combi;
btMinkowskiSumShape combi(m_convexA,m_convexB);
btMinkowskiSumShape* convex = &combi;
SimdTransform rayFromLocalA;
SimdTransform rayToLocalA;
btTransform rayFromLocalA;
btTransform rayToLocalA;
rayFromLocalA = fromA.inverse()* fromB;
rayToLocalA = toA.inverse()* toB;
@@ -49,28 +49,28 @@ bool SubsimplexConvexCast::calcTimeOfImpact(
m_simplexSolver->reset();
convex->SetTransformB(SimdTransform(rayFromLocalA.getBasis()));
convex->SetTransformB(btTransform(rayFromLocalA.getBasis()));
//float radius = 0.01f;
SimdScalar lambda = 0.f;
btScalar lambda = 0.f;
//todo: need to verify this:
//because of minkowski difference, we need the inverse direction
SimdVector3 s = -rayFromLocalA.getOrigin();
SimdVector3 r = -(rayToLocalA.getOrigin()-rayFromLocalA.getOrigin());
SimdVector3 x = s;
SimdVector3 v;
SimdVector3 arbitraryPoint = convex->LocalGetSupportingVertex(r);
btVector3 s = -rayFromLocalA.getOrigin();
btVector3 r = -(rayToLocalA.getOrigin()-rayFromLocalA.getOrigin());
btVector3 x = s;
btVector3 v;
btVector3 arbitraryPoint = convex->LocalGetSupportingVertex(r);
v = x - arbitraryPoint;
int maxIter = MAX_ITERATIONS;
SimdVector3 n;
btVector3 n;
n.setValue(0.f,0.f,0.f);
bool hasResult = false;
SimdVector3 c;
btVector3 c;
float lastLambda = lambda;
@@ -78,7 +78,7 @@ bool SubsimplexConvexCast::calcTimeOfImpact(
float dist2 = v.length2();
float epsilon = 0.0001f;
SimdVector3 w,p;
btVector3 w,p;
float VdotR;
while ( (dist2 > epsilon) && maxIter--)