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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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48
src/BulletDynamics/Dynamics/btRigidBody.cpp
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@@ -16,14 +16,14 @@ subject to the following restrictions:
#include "btRigidBody.h"
#include "btMassProps.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "LinearMath/GenMinMax.h"
#include <LinearMath/SimdTransformUtil.h>
#include "LinearMath/btMinMax.h"
#include <LinearMath/btTransformUtil.h>
float gLinearAirDamping = 1.f;
static int uniqueId = 0;
RigidBody::RigidBody( const MassProps& massProps,SimdScalar linearDamping,SimdScalar angularDamping,SimdScalar friction,SimdScalar restitution)
btRigidBody::btRigidBody( const btMassProps& massProps,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
:
m_gravity(0.0f, 0.0f, 0.0f),
m_totalForce(0.0f, 0.0f, 0.0f),
@@ -37,7 +37,7 @@ RigidBody::RigidBody( const MassProps& massProps,SimdScalar linearDamping,SimdSc
m_frictionSolverType(0)
{
//moved to CollisionObject
//moved to btCollisionObject
m_friction = friction;
m_restitution = restitution;
@@ -51,25 +51,25 @@ RigidBody::RigidBody( const MassProps& massProps,SimdScalar linearDamping,SimdSc
}
void RigidBody::setLinearVelocity(const SimdVector3& lin_vel)
void btRigidBody::setLinearVelocity(const btVector3& lin_vel)
{
m_linearVelocity = lin_vel;
}
void RigidBody::predictIntegratedTransform(SimdScalar timeStep,SimdTransform& predictedTransform) const
void btRigidBody::predictIntegratedTransform(btScalar timeStep,btTransform& predictedTransform) const
{
SimdTransformUtil::IntegrateTransform(m_worldTransform,m_linearVelocity,m_angularVelocity,timeStep,predictedTransform);
btTransformUtil::IntegrateTransform(m_worldTransform,m_linearVelocity,m_angularVelocity,timeStep,predictedTransform);
}
void RigidBody::saveKinematicState(SimdScalar timeStep)
void btRigidBody::saveKinematicState(btScalar timeStep)
{
if (m_kinematicTimeStep)
{
SimdVector3 linVel,angVel;
SimdTransformUtil::CalculateVelocity(m_interpolationWorldTransform,m_worldTransform,m_kinematicTimeStep,m_linearVelocity,m_angularVelocity);
btVector3 linVel,angVel;
btTransformUtil::CalculateVelocity(m_interpolationWorldTransform,m_worldTransform,m_kinematicTimeStep,m_linearVelocity,m_angularVelocity);
//printf("angular = %f %f %f\n",m_angularVelocity.getX(),m_angularVelocity.getY(),m_angularVelocity.getZ());
}
@@ -79,7 +79,7 @@ void RigidBody::saveKinematicState(SimdScalar timeStep)
m_kinematicTimeStep = timeStep;
}
void RigidBody::getAabb(SimdVector3& aabbMin,SimdVector3& aabbMax) const
void btRigidBody::getAabb(btVector3& aabbMin,btVector3& aabbMax) const
{
GetCollisionShape()->GetAabb(m_worldTransform,aabbMin,aabbMax);
}
@@ -87,7 +87,7 @@ void RigidBody::getAabb(SimdVector3& aabbMin,SimdVector3& aabbMax) const
void RigidBody::setGravity(const SimdVector3& acceleration)
void btRigidBody::setGravity(const btVector3& acceleration)
{
if (m_inverseMass != 0.0f)
{
@@ -100,7 +100,7 @@ void RigidBody::setGravity(const SimdVector3& acceleration)
void RigidBody::setDamping(SimdScalar lin_damping, SimdScalar ang_damping)
void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping)
{
m_linearDamping = GEN_clamped(lin_damping, 0.0f, 1.0f);
m_angularDamping = GEN_clamped(ang_damping, 0.0f, 1.0f);
@@ -111,7 +111,7 @@ void RigidBody::setDamping(SimdScalar lin_damping, SimdScalar ang_damping)
#include <stdio.h>
void RigidBody::applyForces(SimdScalar step)
void btRigidBody::applyForces(btScalar step)
{
if (IsStatic())
return;
@@ -130,7 +130,7 @@ void RigidBody::applyForces(SimdScalar step)
float dampVel = 0.005f;
if (speed > dampVel)
{
SimdVector3 dir = m_linearVelocity.normalized();
btVector3 dir = m_linearVelocity.normalized();
m_linearVelocity -= dir * dampVel;
} else
{
@@ -144,7 +144,7 @@ void RigidBody::applyForces(SimdScalar step)
float angDampVel = 0.005f;
if (angSpeed > angDampVel)
{
SimdVector3 dir = m_angularVelocity.normalized();
btVector3 dir = m_angularVelocity.normalized();
m_angularVelocity -= dir * angDampVel;
} else
{
@@ -155,17 +155,17 @@ void RigidBody::applyForces(SimdScalar step)
}
void RigidBody::proceedToTransform(const SimdTransform& newTrans)
void btRigidBody::proceedToTransform(const btTransform& newTrans)
{
setCenterOfMassTransform( newTrans );
}
void RigidBody::setMassProps(SimdScalar mass, const SimdVector3& inertia)
void btRigidBody::setMassProps(btScalar mass, const btVector3& inertia)
{
if (mass == 0.f)
{
m_collisionFlags = CollisionObject::isStatic;
m_collisionFlags = btCollisionObject::isStatic;
m_inverseMass = 0.f;
} else
{
@@ -182,13 +182,13 @@ void RigidBody::setMassProps(SimdScalar mass, const SimdVector3& inertia)
void RigidBody::updateInertiaTensor()
void btRigidBody::updateInertiaTensor()
{
m_invInertiaTensorWorld = m_worldTransform.getBasis().scaled(m_invInertiaLocal) * m_worldTransform.getBasis().transpose();
}
void RigidBody::integrateVelocities(SimdScalar step)
void btRigidBody::integrateVelocities(btScalar step)
{
if (IsStatic())
return;
@@ -207,15 +207,15 @@ void RigidBody::integrateVelocities(SimdScalar step)
clearForces();
}
SimdQuaternion RigidBody::getOrientation() const
btQuaternion btRigidBody::getOrientation() const
{
SimdQuaternion orn;
btQuaternion orn;
m_worldTransform.getBasis().getRotation(orn);
return orn;
}
void RigidBody::setCenterOfMassTransform(const SimdTransform& xform)
void btRigidBody::setCenterOfMassTransform(const btTransform& xform)
{
m_worldTransform = xform;
updateInertiaTensor();