diff options
author | Erwin Coumans <blender@erwincoumans.com> | 2006-11-23 03:23:07 +0300 |
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committer | Erwin Coumans <blender@erwincoumans.com> | 2006-11-23 03:23:07 +0300 |
commit | 083c310d1fa98068fed88be58c7c7b982b0cb947 (patch) | |
tree | 1b14e042c65a33a02f954dde47c59814b72b6472 /extern | |
parent | dfb924cf519322d6b5e18ef31c0c53a9d196a1ea (diff) |
fixed some code that causes problems with msvc 6 (need to verify)
Diffstat (limited to 'extern')
-rw-r--r-- | extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa.cpp | 69 |
1 files changed, 23 insertions, 46 deletions
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa.cpp index 55123d5adb6..629cc67d9e1 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa.cpp +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa.cpp @@ -3,18 +3,18 @@ Bullet Continuous Collision Detection and Physics Library Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the +In no event will the authors be held liable for any damages arising from the use of this software. Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it +including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions: -1. The origin of this software must not be misrepresented; you must not -claim that you wrote the original software. If you use this software in a -product, an acknowledgment in the product documentation would be appreciated +1. The origin of this software must not be misrepresented; you must not +claim that you wrote the original software. If you use this software in a +product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 3. This notice may not be removed or altered from any source distribution. */ @@ -24,7 +24,6 @@ GJK-EPA collision solver by Nathanael Presson Nov.2006 */ - #include "btGjkEpa.h" #include <string.h> //for memset @@ -90,23 +89,11 @@ return(a>b?a:b); } static inline void ClearMemory(void* p,U sz) { memset(p,0,(size_t)sz); } #if 0 -template <typename T> static inline void Raise(const T& object) { +template <typename T> static inline void Raise(const T& object) { throw(object); } #else template <typename T> static inline void Raise(const T&) {} #endif -static inline F Det(const Vector3& a,const Vector3& b,const Vector3& -c,const Vector3& d) - { - return( -(a.z()*b.y()*c.x()) + a.y()*b.z()*c.x() + a.z()*b.x()*c.y() - -a.x()*b.z()*c.y() - a.y()*b.x()*c.z() + a.x()*b.y()*c.z() + - a.z()*b.y()*d.x() - a.y()*b.z()*d.x() - a.z()*c.y()*d.x() + -b.z()*c.y()*d.x() + a.y()*c.z()*d.x() - b.y()*c.z()*d.x() - - a.z()*b.x()*d.y() + a.x()*b.z()*d.y() + a.z()*c.x()*d.y() - -b.z()*c.x()*d.y() - a.x()*c.z()*d.y() + b.x()*c.z()*d.y() + - a.y()*b.x()*d.z() - a.x()*b.y()*d.z() - a.y()*c.x()*d.z() + -b.y()*c.x()*d.z() + a.x()*c.y()*d.z() - b.x()*c.y()*d.z()); - } // // StackAlloc @@ -127,16 +114,6 @@ struct StackAlloc data = new U1[size]; totalsize = size; } - StackAlloc* CreateChild(U size) - { - StackAlloc* sa(Allocate<StackAlloc>()); - sa->ischild = true; - sa->data = Allocate(size); - sa->totalsize = size; - sa->usedsize = 0; - sa->current = 0; - return(sa); - } void Free() { if(usedsize==0) @@ -148,7 +125,7 @@ struct StackAlloc } Block* BeginBlock() { - Block* pb(Allocate<Block>()); + Block* pb((Block*)Allocate(sizeof(Block))); pb->previous = current; pb->address = data+usedsize; current = pb; @@ -173,10 +150,6 @@ struct StackAlloc Raise(L"Not enough memory"); return(0); } - template <typename T> T* Allocate() { -return((T*)Allocate((U)sizeof(T))); } - template <typename T> T* AllocateArray(U count) { -return((T*)Allocate((U)sizeof(T)*count)); } private: void ctor() { @@ -208,10 +181,9 @@ struct GJK Vector3 v; He* n; }; - static const U hashsize=64; StackAlloc* sa; StackAlloc::Block* sablock; - He* table[hashsize]; + He* table[GJK_hashsize]; Rotation wrotations[2]; Vector3 positions[2]; const btConvexShape* shapes[2]; @@ -242,7 +214,7 @@ struct GJK // vdh : very dumm hash static inline U Hash(const Vector3& v) { - const U h((U)(v[0]*15461)^(U)(v[1]*83003)^(U)(v[2]*15473)); + const U h(U(v[0]*15461)^U(v[1]*83003)^U(v[2]*15473)); return(((*((const U*)&h))*169639)&GJK_hashmask); } // @@ -264,7 +236,7 @@ struct GJK const U h(Hash(ray)); He* e(table[h]); while(e) { if(e->v==ray) { --order;return(false); } else e=e->n; } - e=sa->Allocate<He>();e->v=ray;e->n=table[h];table[h]=e; + e=(He*)sa->Allocate(sizeof(He));e->v=ray;e->n=table[h];table[h]=e; Support(ray,simplex[++order]); return(ray.dot(SPXW(order))>0); } @@ -331,10 +303,12 @@ order=2;SPX(1)=SPX(0);SPX(0)=SPX(2);SPX(2)=SPX(3);return(SolveSimplex3a(ao,ad,ab inline Z SearchOrigin(const Vector3& initray=Vector3(1,0,0)) { iterations = 0; - order = 0; + order = (U)-1; failed = false; - Support(initray,simplex[0]);ray=-SPXW(0); - ClearMemory(table,sizeof(void*)*hashsize); + ray = initray.normalized(); + ClearMemory(table,sizeof(void*)*GJK_hashsize); + FetchSupport(); + ray = -SPXW(0); for(;iterations<GJK_maxiterations;++iterations) { const F rl(ray.length()); @@ -464,7 +438,7 @@ struct EPA return(bf); } // - inline Z Set(Face* f,const GJK::Mkv* a,const GJK::Mkv* b,const GJK::Mkv* + inline Z Set(Face* f,const GJK::Mkv* a,const GJK::Mkv* b,const GJK::Mkv* c) const { const Vector3 nrm(cross(b->w-a->w,c->w-a->w)); @@ -483,7 +457,7 @@ c) const // inline Face* NewFace(const GJK::Mkv* a,const GJK::Mkv* b,const GJK::Mkv* c) { - Face* pf(sa->Allocate<Face>()); + Face* pf((Face*)sa->Allocate(sizeof(Face))); if(Set(pf,a,b,c)) { if(root) root->prev=pf; @@ -525,7 +499,7 @@ c) const // GJK::Mkv* Support(const Vector3& w) const { - GJK::Mkv* v(sa->Allocate<GJK::Mkv>()); + GJK::Mkv* v((GJK::Mkv*)sa->Allocate(sizeof(GJK::Mkv))); gjk->Support(w,*v); return(v); } @@ -596,7 +570,8 @@ U eidx[9][4]={{0,0,4,0},{0,1,2,1},{0,2,1,2},{1,1,5,2},{1,0,2,0},{2,2,3,2},{3,1,5 } break; } for(U i=0;i<=gjk->order;++i) { -basemkv[i]=sa->Allocate<GJK::Mkv>();*basemkv[i]=gjk->simplex[i]; } +basemkv[i]=(GJK::Mkv*)sa->Allocate(sizeof(GJK::Mkv));*basemkv[i]=gjk->simplex[i]; +} for(U i=0;i<nfidx;++i,pfidx+=3) { basefaces[i]=NewFace(basemkv[pfidx[0]],basemkv[pfidx[1]],basemkv[pfidx[2]]); } @@ -707,3 +682,5 @@ return(false); + + |