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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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58
src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
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@@ -15,8 +15,8 @@ subject to the following restrictions:
#ifndef VoronoiSimplexSolver_H
#define VoronoiSimplexSolver_H
#ifndef btVoronoiSimplexSolver_H
#define btVoronoiSimplexSolver_H
#include "btSimplexSolverInterface.h"
@@ -24,8 +24,8 @@ subject to the following restrictions:
#define VORONOI_SIMPLEX_MAX_VERTS 5
struct UsageBitfield{
UsageBitfield()
struct btUsageBitfield{
btUsageBitfield()
{
reset();
}
@@ -48,13 +48,13 @@ struct UsageBitfield{
};
struct SubSimplexClosestResult
struct btSubSimplexClosestResult
{
SimdPoint3 m_closestPointOnSimplex;
btPoint3 m_closestPointOnSimplex;
//MASK for m_usedVertices
//stores the simplex vertex-usage, using the MASK,
// if m_usedVertices & MASK then the related vertex is used
UsageBitfield m_usedVertices;
btUsageBitfield m_usedVertices;
float m_barycentricCoords[4];
bool m_degenerate;
@@ -84,67 +84,67 @@ struct SubSimplexClosestResult
};
/// VoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points simplex to the origin.
/// btVoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points simplex to the origin.
/// Can be used with GJK, as an alternative to Johnson distance algorithm.
#ifdef NO_VIRTUAL_INTERFACE
class VoronoiSimplexSolver
class btVoronoiSimplexSolver
#else
class VoronoiSimplexSolver : public SimplexSolverInterface
class btVoronoiSimplexSolver : public btSimplexSolverInterface
#endif
{
public:
int m_numVertices;
SimdVector3 m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS];
SimdPoint3 m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS];
SimdPoint3 m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS];
btVector3 m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS];
btPoint3 m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS];
btPoint3 m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS];
SimdPoint3 m_cachedP1;
SimdPoint3 m_cachedP2;
SimdVector3 m_cachedV;
SimdVector3 m_lastW;
btPoint3 m_cachedP1;
btPoint3 m_cachedP2;
btVector3 m_cachedV;
btVector3 m_lastW;
bool m_cachedValidClosest;
SubSimplexClosestResult m_cachedBC;
btSubSimplexClosestResult m_cachedBC;
bool m_needsUpdate;
void removeVertex(int index);
void ReduceVertices (const UsageBitfield& usedVerts);
void ReduceVertices (const btUsageBitfield& usedVerts);
bool UpdateClosestVectorAndPoints();
bool ClosestPtPointTetrahedron(const SimdPoint3& p, const SimdPoint3& a, const SimdPoint3& b, const SimdPoint3& c, const SimdPoint3& d, SubSimplexClosestResult& finalResult);
int PointOutsideOfPlane(const SimdPoint3& p, const SimdPoint3& a, const SimdPoint3& b, const SimdPoint3& c, const SimdPoint3& d);
bool ClosestPtPointTriangle(const SimdPoint3& p, const SimdPoint3& a, const SimdPoint3& b, const SimdPoint3& c,SubSimplexClosestResult& result);
bool ClosestPtPointTetrahedron(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c, const btPoint3& d, btSubSimplexClosestResult& finalResult);
int PointOutsideOfPlane(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c, const btPoint3& d);
bool ClosestPtPointTriangle(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c,btSubSimplexClosestResult& result);
public:
void reset();
void addVertex(const SimdVector3& w, const SimdPoint3& p, const SimdPoint3& q);
void addVertex(const btVector3& w, const btPoint3& p, const btPoint3& q);
bool closest(SimdVector3& v);
bool closest(btVector3& v);
SimdScalar maxVertex();
btScalar maxVertex();
bool fullSimplex() const
{
return (m_numVertices == 4);
}
int getSimplex(SimdPoint3 *pBuf, SimdPoint3 *qBuf, SimdVector3 *yBuf) const;
int getSimplex(btPoint3 *pBuf, btPoint3 *qBuf, btVector3 *yBuf) const;
bool inSimplex(const SimdVector3& w);
bool inSimplex(const btVector3& w);
void backup_closest(SimdVector3& v) ;
void backup_closest(btVector3& v) ;
bool emptySimplex() const ;
void compute_points(SimdPoint3& p1, SimdPoint3& p2) ;
void compute_points(btPoint3& p1, btPoint3& p2) ;
int numVertices() const
{