Changeset 7983 for code/branches/kicklib/src/external/bullet/LinearMath/btConvexHull.cpp

Timestamp:

Feb 27, 2011, 7:43:24 AM (14 years ago)

Author:

rgrieder

Message:

Updated Bullet Physics Engine from v2.74 to v2.77

File:

• code/branches/kicklib/src/external/bullet/LinearMath/btConvexHull.cpp (modified) (21 diffs)

code/branches/kicklib/src/external/bullet/LinearMath/btConvexHull.cpp

@@ -17 +17 @@
 
 #include "btConvexHull.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include "LinearMath/btMinMax.h"
-#include "LinearMath/btVector3.h"
+#include "btAlignedObjectArray.h"
+#include "btMinMax.h"
+#include "btVector3.h"
 
 
@@ -97 +97 @@
                                 static btVector3 dif;
                 dif = p1-p0;
-                                btScalar dn= dot(plane.normal,dif);
-                                btScalar t = -(plane.dist+dot(plane.normal,p0) )/dn;
+                                btScalar dn= btDot(plane.normal,dif);
+                                btScalar t = -(plane.dist+btDot(plane.normal,p0) )/dn;
                                 return p0 + (dif*t);
 }
@@ -104 +104 @@
 btVector3 PlaneProject(const btPlane &plane, const btVector3 &point)
 {
-        return point - plane.normal * (dot(point,plane.normal)+plane.dist);
+        return point - plane.normal * (btDot(point,plane.normal)+plane.dist);
 }
 
@@ -111 +111 @@
         // return the normal of the triangle
         // inscribed by v0, v1, and v2
-        btVector3 cp=cross(v1-v0,v2-v1);
+        btVector3 cp=btCross(v1-v0,v2-v1);
         btScalar m=cp.length();
         if(m==0) return btVector3(1,0,0);
@@ -121 +121 @@
 {
         static btVector3 cp;
-        cp = cross(udir,vdir).normalized();
-
-        btScalar distu = -dot(cp,ustart);
-        btScalar distv = -dot(cp,vstart);
+        cp = btCross(udir,vdir).normalized();
+
+        btScalar distu = -btDot(cp,ustart);
+        btScalar distv = -btDot(cp,vstart);
         btScalar dist = (btScalar)fabs(distu-distv);
         if(upoint) 
                 {
                 btPlane plane;
-                plane.normal = cross(vdir,cp).normalized();
-                plane.dist = -dot(plane.normal,vstart);
+                plane.normal = btCross(vdir,cp).normalized();
+                plane.dist = -btDot(plane.normal,vstart);
                 *upoint = PlaneLineIntersection(plane,ustart,ustart+udir);
         }
@@ -136 +136 @@
                 {
                 btPlane plane;
-                plane.normal = cross(udir,cp).normalized();
-                plane.dist = -dot(plane.normal,ustart);
+                plane.normal = btCross(udir,cp).normalized();
+                plane.dist = -btDot(plane.normal,ustart);
                 *vpoint = PlaneLineIntersection(plane,vstart,vstart+vdir);
         }
@@ -171 +171 @@
 int PlaneTest(const btPlane &p, const btVector3 &v);
 int PlaneTest(const btPlane &p, const btVector3 &v) {
-        btScalar a  = dot(v,p.normal)+p.dist;
+        btScalar a  = btDot(v,p.normal)+p.dist;
         int   flag = (a>planetestepsilon)?OVER:((a<-planetestepsilon)?UNDER:COPLANAR);
         return flag;
@@ -229 +229 @@
                 if(allow[i])
                 {
-                        if(m==-1 || dot(p[i],dir)>dot(p[m],dir))
+                        if(m==-1 || btDot(p[i],dir)>btDot(p[m],dir))
                                 m=i;
                 }
@@ -239 +239 @@
 btVector3 orth(const btVector3 &v)
 {
-        btVector3 a=cross(v,btVector3(0,0,1));
-        btVector3 b=cross(v,btVector3(0,1,0));
+        btVector3 a=btCross(v,btVector3(0,0,1));
+        btVector3 b=btCross(v,btVector3(0,1,0));
         if (a.length() > b.length())
         {
@@ -259 +259 @@
                 if(allow[m]==3) return m;
                 T u = orth(dir);
-                T v = cross(u,dir);
+                T v = btCross(u,dir);
                 int ma=-1;
                 for(btScalar x = btScalar(0.0) ; x<= btScalar(360.0) ; x+= btScalar(45.0))
@@ -314 +314 @@
 {
         btVector3 n=TriNormal(vertices[t[0]],vertices[t[1]],vertices[t[2]]);
-        return (dot(n,p-vertices[t[0]]) > epsilon); // EPSILON???
+        return (btDot(n,p-vertices[t[0]]) > epsilon); // EPSILON???
 }
 int hasedge(const int3 &t, int a,int b);
@@ -496 +496 @@
         if(p0==p1 || basis[0]==btVector3(0,0,0)) 
                 return int4(-1,-1,-1,-1);
-        basis[1] = cross(btVector3(     btScalar(1),btScalar(0.02), btScalar(0)),basis[0]);
-        basis[2] = cross(btVector3(btScalar(-0.02),     btScalar(1), btScalar(0)),basis[0]);
+        basis[1] = btCross(btVector3(     btScalar(1),btScalar(0.02), btScalar(0)),basis[0]);
+        basis[2] = btCross(btVector3(btScalar(-0.02),     btScalar(1), btScalar(0)),basis[0]);
         if (basis[1].length() > basis[2].length())
         {
@@ -513 +513 @@
                 return int4(-1,-1,-1,-1);
         basis[1] = verts[p2] - verts[p0];
-        basis[2] = cross(basis[1],basis[0]).normalized();
+        basis[2] = btCross(basis[1],basis[0]).normalized();
         int p3 = maxdirsterid(verts,verts_count,basis[2],allow);
         if(p3==p0||p3==p1||p3==p2) p3 = maxdirsterid(verts,verts_count,-basis[2],allow);
@@ -519 +519 @@
                 return int4(-1,-1,-1,-1);
         btAssert(!(p0==p1||p0==p2||p0==p3||p1==p2||p1==p3||p2==p3));
-        if(dot(verts[p3]-verts[p0],cross(verts[p1]-verts[p0],verts[p2]-verts[p0])) <0) {Swap(p2,p3);}
+        if(btDot(verts[p3]-verts[p0],btCross(verts[p1]-verts[p0],verts[p2]-verts[p0])) <0) {Swap(p2,p3);}
         return int4(p0,p1,p2,p3);
 }
@@ -565 +565 @@
                 btVector3 n=TriNormal(verts[(*t)[0]],verts[(*t)[1]],verts[(*t)[2]]);
                 t->vmax = maxdirsterid(verts,verts_count,n,allow);
-                t->rise = dot(n,verts[t->vmax]-verts[(*t)[0]]);
+                t->rise = btDot(n,verts[t->vmax]-verts[(*t)[0]]);
         }
         btHullTriangle *te;
@@ -593 +593 @@
                         if(!hasvert(*m_tris[j],v)) break;
                         int3 nt=*m_tris[j];
-                        if(above(verts,nt,center,btScalar(0.01)*epsilon)  || cross(verts[nt[1]]-verts[nt[0]],verts[nt[2]]-verts[nt[1]]).length()< epsilon*epsilon*btScalar(0.1) )
+                        if(above(verts,nt,center,btScalar(0.01)*epsilon)  || btCross(verts[nt[1]]-verts[nt[0]],verts[nt[2]]-verts[nt[1]]).length()< epsilon*epsilon*btScalar(0.1) )
                         {
                                 btHullTriangle *nb = m_tris[m_tris[j]->n[0]];
@@ -615 +615 @@
                         else
                         {
-                                t->rise = dot(n,verts[t->vmax]-verts[(*t)[0]]);
+                                t->rise = btDot(n,verts[t->vmax]-verts[(*t)[0]]);
                         }
                 }
@@ -877 +877 @@
         vcount = 0;
 
-        btScalar recip[3];
+        btScalar recip[3]={0.f,0.f,0.f};
 
         if ( scale )
@@ -1012 +1012 @@
                                 btScalar z = v[2];
 
-                                btScalar dx = fabsf(x - px );
-                                btScalar dy = fabsf(y - py );
-                                btScalar dz = fabsf(z - pz );
+                                btScalar dx = btFabs(x - px );
+                                btScalar dy = btFabs(y - py );
+                                btScalar dz = btFabs(z - pz );
 
                                 if ( dx < normalepsilon && dy < normalepsilon && dz < normalepsilon )
@@ -1136 +1136 @@
         ocount = 0;
 
-        for (i=0; i<indexcount; i++)
+        for (i=0; i<int (indexcount); i++)
         {
                 unsigned int v = indices[i]; // original array index
@@ -1157 +1157 @@
                         for (int k=0;k<m_vertexIndexMapping.size();k++)
                         {
-                                if (tmpIndices[k]==v)
+                                if (tmpIndices[k]==int(v))
                                         m_vertexIndexMapping[k]=ocount;
                         }