diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp | 55 |
1 files changed, 31 insertions, 24 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp index 1423c335407..05556bd34e2 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp @@ -50,6 +50,8 @@ btSphereBoxCollisionAlgorithm::~btSphereBoxCollisionAlgorithm() void btSphereBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) { + (void)dispatchInfo; + (void)resultOut; if (!m_manifoldPtr) return; @@ -64,7 +66,7 @@ void btSphereBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,b btVector3 sphereCenter = sphereObj->getWorldTransform().getOrigin(); btScalar radius = sphere0->getRadius(); - float dist = getSphereDistance(boxObj,pOnBox,pOnSphere,sphereCenter,radius); + btScalar dist = getSphereDistance(boxObj,pOnBox,pOnSphere,sphereCenter,radius); if (dist < SIMD_EPSILON) { @@ -81,10 +83,15 @@ void btSphereBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,b } -float btSphereBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +btScalar btSphereBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) { + (void)resultOut; + (void)dispatchInfo; + (void)col0; + (void)col1; + //not yet - return 1.f; + return btScalar(1.); } @@ -117,14 +124,14 @@ btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* box ///////////////////////////////////////////////// btVector3 tmp, prel, n[6], normal, v3P; - btScalar fSep = 10000000.0f, fSepThis; + btScalar fSep = btScalar(10000000.0), fSepThis; - n[0].setValue( -1.0f, 0.0f, 0.0f ); - n[1].setValue( 0.0f, -1.0f, 0.0f ); - n[2].setValue( 0.0f, 0.0f, -1.0f ); - n[3].setValue( 1.0f, 0.0f, 0.0f ); - n[4].setValue( 0.0f, 1.0f, 0.0f ); - n[5].setValue( 0.0f, 0.0f, 1.0f ); + n[0].setValue( btScalar(-1.0), btScalar(0.0), btScalar(0.0) ); + n[1].setValue( btScalar(0.0), btScalar(-1.0), btScalar(0.0) ); + n[2].setValue( btScalar(0.0), btScalar(0.0), btScalar(-1.0) ); + n[3].setValue( btScalar(1.0), btScalar(0.0), btScalar(0.0) ); + n[4].setValue( btScalar(0.0), btScalar(1.0), btScalar(0.0) ); + n[5].setValue( btScalar(0.0), btScalar(0.0), btScalar(1.0) ); // convert point in local space prel = m44T.invXform( sphereCenter); @@ -136,7 +143,7 @@ btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* box for (int i=0;i<6;i++) { int j = i<3? 0:1; - if ( (fSepThis = ((v3P-bounds[j]) .dot(n[i]))) > 0.0f ) + if ( (fSepThis = ((v3P-bounds[j]) .dot(n[i]))) > btScalar(0.0) ) { v3P = v3P - n[i]*fSepThis; bFound = true; @@ -154,9 +161,9 @@ btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* box pointOnBox = v3P + normal*margins; v3PointOnSphere = prel - normal*fRadius; - if ( ((v3PointOnSphere - pointOnBox) .dot (normal)) > 0.0f ) + if ( ((v3PointOnSphere - pointOnBox) .dot (normal)) > btScalar(0.0) ) { - return 1.0f; + return btScalar(1.0); } // transform back in world space @@ -171,7 +178,7 @@ btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* box { fSep = - btSqrt(fSeps2); normal = (pointOnBox-v3PointOnSphere); - normal *= 1.f/fSep; + normal *= btScalar(1.)/fSep; } return fSep; @@ -185,10 +192,10 @@ btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* box bounds[0] = boundsVec[0]; bounds[1] = boundsVec[1]; - if ( fPenetration <= 0.0f ) + if ( fPenetration <= btScalar(0.0) ) return (fPenetration-margins); else - return 1.0f; + return btScalar(1.0); } btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btCollisionObject* boxObj,btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax) @@ -200,14 +207,14 @@ btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btCollisionObject* bounds[1] = aabbMax; btVector3 p0, tmp, prel, n[6], normal; - btScalar fSep = -10000000.0f, fSepThis; + btScalar fSep = btScalar(-10000000.0), fSepThis; - n[0].setValue( -1.0f, 0.0f, 0.0f ); - n[1].setValue( 0.0f, -1.0f, 0.0f ); - n[2].setValue( 0.0f, 0.0f, -1.0f ); - n[3].setValue( 1.0f, 0.0f, 0.0f ); - n[4].setValue( 0.0f, 1.0f, 0.0f ); - n[5].setValue( 0.0f, 0.0f, 1.0f ); + n[0].setValue( btScalar(-1.0), btScalar(0.0), btScalar(0.0) ); + n[1].setValue( btScalar(0.0), btScalar(-1.0), btScalar(0.0) ); + n[2].setValue( btScalar(0.0), btScalar(0.0), btScalar(-1.0) ); + n[3].setValue( btScalar(1.0), btScalar(0.0), btScalar(0.0) ); + n[4].setValue( btScalar(0.0), btScalar(1.0), btScalar(0.0) ); + n[5].setValue( btScalar(0.0), btScalar(0.0), btScalar(1.0) ); const btTransform& m44T = boxObj->getWorldTransform(); @@ -219,7 +226,7 @@ btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btCollisionObject* for (int i=0;i<6;i++) { int j = i<3 ? 0:1; - if ( (fSepThis = ((prel-bounds[j]) .dot( n[i]))-fRadius) > 0.0f ) return 1.0f; + if ( (fSepThis = ((prel-bounds[j]) .dot( n[i]))-fRadius) > btScalar(0.0) ) return btScalar(1.0); if ( fSepThis > fSep ) { p0 = bounds[j]; normal = (btVector3&)n[i]; |