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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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90
src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
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@@ -34,7 +34,7 @@ subject to the following restrictions:
#define VERTD 3
#define CATCH_DEGENERATE_TETRAHEDRON 1
void VoronoiSimplexSolver::removeVertex(int index)
void btVoronoiSimplexSolver::removeVertex(int index)
{
assert(m_numVertices>0);
@@ -44,7 +44,7 @@ void VoronoiSimplexSolver::removeVertex(int index)
m_simplexPointsQ[index] = m_simplexPointsQ[m_numVertices];
}
void VoronoiSimplexSolver::ReduceVertices (const UsageBitfield& usedVerts)
void btVoronoiSimplexSolver::ReduceVertices (const btUsageBitfield& usedVerts)
{
if ((numVertices() >= 4) && (!usedVerts.usedVertexD))
removeVertex(3);
@@ -65,19 +65,19 @@ void VoronoiSimplexSolver::ReduceVertices (const UsageBitfield& usedVerts)
//clear the simplex, remove all the vertices
void VoronoiSimplexSolver::reset()
void btVoronoiSimplexSolver::reset()
{
m_cachedValidClosest = false;
m_numVertices = 0;
m_needsUpdate = true;
m_lastW = SimdVector3(1e30f,1e30f,1e30f);
m_lastW = btVector3(1e30f,1e30f,1e30f);
m_cachedBC.Reset();
}
//add a vertex
void VoronoiSimplexSolver::addVertex(const SimdVector3& w, const SimdPoint3& p, const SimdPoint3& q)
void btVoronoiSimplexSolver::addVertex(const btVector3& w, const btPoint3& p, const btPoint3& q)
{
m_lastW = w;
m_needsUpdate = true;
@@ -89,7 +89,7 @@ void VoronoiSimplexSolver::addVertex(const SimdVector3& w, const SimdPoint3& p,
m_numVertices++;
}
bool VoronoiSimplexSolver::UpdateClosestVectorAndPoints()
bool btVoronoiSimplexSolver::UpdateClosestVectorAndPoints()
{
if (m_needsUpdate)
@@ -116,13 +116,13 @@ bool VoronoiSimplexSolver::UpdateClosestVectorAndPoints()
case 2:
{
//closest point origin from line segment
const SimdVector3& from = m_simplexVectorW[0];
const SimdVector3& to = m_simplexVectorW[1];
SimdVector3 nearest;
const btVector3& from = m_simplexVectorW[0];
const btVector3& to = m_simplexVectorW[1];
btVector3 nearest;
SimdVector3 p (0.f,0.f,0.f);
SimdVector3 diff = p - from;
SimdVector3 v = to - from;
btVector3 p (0.f,0.f,0.f);
btVector3 diff = p - from;
btVector3 v = to - from;
float t = v.dot(diff);
if (t > 0) {
@@ -159,11 +159,11 @@ bool VoronoiSimplexSolver::UpdateClosestVectorAndPoints()
case 3:
{
//closest point origin from triangle
SimdVector3 p (0.f,0.f,0.f);
btVector3 p (0.f,0.f,0.f);
const SimdVector3& a = m_simplexVectorW[0];
const SimdVector3& b = m_simplexVectorW[1];
const SimdVector3& c = m_simplexVectorW[2];
const btVector3& a = m_simplexVectorW[0];
const btVector3& b = m_simplexVectorW[1];
const btVector3& c = m_simplexVectorW[2];
ClosestPtPointTriangle(p,a,b,c,m_cachedBC);
m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] +
@@ -187,12 +187,12 @@ bool VoronoiSimplexSolver::UpdateClosestVectorAndPoints()
{
SimdVector3 p (0.f,0.f,0.f);
btVector3 p (0.f,0.f,0.f);
const SimdVector3& a = m_simplexVectorW[0];
const SimdVector3& b = m_simplexVectorW[1];
const SimdVector3& c = m_simplexVectorW[2];
const SimdVector3& d = m_simplexVectorW[3];
const btVector3& a = m_simplexVectorW[0];
const btVector3& b = m_simplexVectorW[1];
const btVector3& c = m_simplexVectorW[2];
const btVector3& d = m_simplexVectorW[3];
bool hasSeperation = ClosestPtPointTetrahedron(p,a,b,c,d,m_cachedBC);
@@ -244,7 +244,7 @@ bool VoronoiSimplexSolver::UpdateClosestVectorAndPoints()
}
//return/calculate the closest vertex
bool VoronoiSimplexSolver::closest(SimdVector3& v)
bool btVoronoiSimplexSolver::closest(btVector3& v)
{
bool succes = UpdateClosestVectorAndPoints();
v = m_cachedV;
@@ -253,13 +253,13 @@ bool VoronoiSimplexSolver::closest(SimdVector3& v)
SimdScalar VoronoiSimplexSolver::maxVertex()
btScalar btVoronoiSimplexSolver::maxVertex()
{
int i, numverts = numVertices();
SimdScalar maxV = 0.f;
btScalar maxV = 0.f;
for (i=0;i<numverts;i++)
{
SimdScalar curLen2 = m_simplexVectorW[i].length2();
btScalar curLen2 = m_simplexVectorW[i].length2();
if (maxV < curLen2)
maxV = curLen2;
}
@@ -269,7 +269,7 @@ SimdScalar VoronoiSimplexSolver::maxVertex()
//return the current simplex
int VoronoiSimplexSolver::getSimplex(SimdPoint3 *pBuf, SimdPoint3 *qBuf, SimdVector3 *yBuf) const
int btVoronoiSimplexSolver::getSimplex(btPoint3 *pBuf, btPoint3 *qBuf, btVector3 *yBuf) const
{
int i;
for (i=0;i<numVertices();i++)
@@ -284,11 +284,11 @@ int VoronoiSimplexSolver::getSimplex(SimdPoint3 *pBuf, SimdPoint3 *qBuf, SimdVec
bool VoronoiSimplexSolver::inSimplex(const SimdVector3& w)
bool btVoronoiSimplexSolver::inSimplex(const btVector3& w)
{
bool found = false;
int i, numverts = numVertices();
//SimdScalar maxV = 0.f;
//btScalar maxV = 0.f;
//w is in the current (reduced) simplex
for (i=0;i<numverts;i++)
@@ -304,19 +304,19 @@ bool VoronoiSimplexSolver::inSimplex(const SimdVector3& w)
return found;
}
void VoronoiSimplexSolver::backup_closest(SimdVector3& v)
void btVoronoiSimplexSolver::backup_closest(btVector3& v)
{
v = m_cachedV;
}
bool VoronoiSimplexSolver::emptySimplex() const
bool btVoronoiSimplexSolver::emptySimplex() const
{
return (numVertices() == 0);
}
void VoronoiSimplexSolver::compute_points(SimdPoint3& p1, SimdPoint3& p2)
void btVoronoiSimplexSolver::compute_points(btPoint3& p1, btPoint3& p2)
{
UpdateClosestVectorAndPoints();
p1 = m_cachedP1;
@@ -327,14 +327,14 @@ void VoronoiSimplexSolver::compute_points(SimdPoint3& p1, SimdPoint3& p2)
bool VoronoiSimplexSolver::ClosestPtPointTriangle(const SimdPoint3& p, const SimdPoint3& a, const SimdPoint3& b, const SimdPoint3& c,SubSimplexClosestResult& result)
bool btVoronoiSimplexSolver::ClosestPtPointTriangle(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c,btSubSimplexClosestResult& result)
{
result.m_usedVertices.reset();
// Check if P in vertex region outside A
SimdVector3 ab = b - a;
SimdVector3 ac = c - a;
SimdVector3 ap = p - a;
btVector3 ab = b - a;
btVector3 ac = c - a;
btVector3 ap = p - a;
float d1 = ab.dot(ap);
float d2 = ac.dot(ap);
if (d1 <= 0.0f && d2 <= 0.0f)
@@ -346,7 +346,7 @@ bool VoronoiSimplexSolver::ClosestPtPointTriangle(const SimdPoint3& p, const Sim
}
// Check if P in vertex region outside B
SimdVector3 bp = p - b;
btVector3 bp = p - b;
float d3 = ab.dot(bp);
float d4 = ac.dot(bp);
if (d3 >= 0.0f && d4 <= d3)
@@ -370,7 +370,7 @@ bool VoronoiSimplexSolver::ClosestPtPointTriangle(const SimdPoint3& p, const Sim
}
// Check if P in vertex region outside C
SimdVector3 cp = p - c;
btVector3 cp = p - c;
float d5 = ab.dot(cp);
float d6 = ac.dot(cp);
if (d6 >= 0.0f && d5 <= d6)
@@ -427,9 +427,9 @@ bool VoronoiSimplexSolver::ClosestPtPointTriangle(const SimdPoint3& p, const Sim
/// Test if point p and d lie on opposite sides of plane through abc
int VoronoiSimplexSolver::PointOutsideOfPlane(const SimdPoint3& p, const SimdPoint3& a, const SimdPoint3& b, const SimdPoint3& c, const SimdPoint3& d)
int btVoronoiSimplexSolver::PointOutsideOfPlane(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c, const btPoint3& d)
{
SimdVector3 normal = (b-a).cross(c-a);
btVector3 normal = (b-a).cross(c-a);
float signp = (p - a).dot(normal); // [AP AB AC]
float signd = (d - a).dot( normal); // [AD AB AC]
@@ -446,9 +446,9 @@ int VoronoiSimplexSolver::PointOutsideOfPlane(const SimdPoint3& p, const SimdPoi
}
bool VoronoiSimplexSolver::ClosestPtPointTetrahedron(const SimdPoint3& p, const SimdPoint3& a, const SimdPoint3& b, const SimdPoint3& c, const SimdPoint3& d, SubSimplexClosestResult& finalResult)
bool btVoronoiSimplexSolver::ClosestPtPointTetrahedron(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c, const btPoint3& d, btSubSimplexClosestResult& finalResult)
{
SubSimplexClosestResult tempResult;
btSubSimplexClosestResult tempResult;
// Start out assuming point inside all halfspaces, so closest to itself
finalResult.m_closestPointOnSimplex = p;
@@ -480,7 +480,7 @@ bool VoronoiSimplexSolver::ClosestPtPointTetrahedron(const SimdPoint3& p, const
if (pointOutsideABC)
{
ClosestPtPointTriangle(p, a, b, c,tempResult);
SimdPoint3 q = tempResult.m_closestPointOnSimplex;
btPoint3 q = tempResult.m_closestPointOnSimplex;
float sqDist = (q - p).dot( q - p);
// Update best closest point if (squared) distance is less than current best
@@ -507,7 +507,7 @@ bool VoronoiSimplexSolver::ClosestPtPointTetrahedron(const SimdPoint3& p, const
if (pointOutsideACD)
{
ClosestPtPointTriangle(p, a, c, d,tempResult);
SimdPoint3 q = tempResult.m_closestPointOnSimplex;
btPoint3 q = tempResult.m_closestPointOnSimplex;
//convert result bitmask!
float sqDist = (q - p).dot( q - p);
@@ -534,7 +534,7 @@ bool VoronoiSimplexSolver::ClosestPtPointTetrahedron(const SimdPoint3& p, const
if (pointOutsideADB)
{
ClosestPtPointTriangle(p, a, d, b,tempResult);
SimdPoint3 q = tempResult.m_closestPointOnSimplex;
btPoint3 q = tempResult.m_closestPointOnSimplex;
//convert result bitmask!
float sqDist = (q - p).dot( q - p);
@@ -561,7 +561,7 @@ bool VoronoiSimplexSolver::ClosestPtPointTetrahedron(const SimdPoint3& p, const
if (pointOutsideBDC)
{
ClosestPtPointTriangle(p, b, d, c,tempResult);
SimdPoint3 q = tempResult.m_closestPointOnSimplex;
btPoint3 q = tempResult.m_closestPointOnSimplex;
//convert result bitmask!
float sqDist = (q - p).dot( q - p);
if (sqDist < bestSqDist)