diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp | 24 |
1 files changed, 11 insertions, 13 deletions
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp index cf8a3ab5eb1..a7ffeda8c62 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp @@ -25,8 +25,6 @@ subject to the following restrictions: #include "btVoronoiSimplexSolver.h" -#include <assert.h> -//#include <stdio.h> #define VERTA 0 #define VERTB 1 @@ -37,7 +35,7 @@ subject to the following restrictions: void btVoronoiSimplexSolver::removeVertex(int index) { - assert(m_numVertices>0); + btAssert(m_numVertices>0); m_numVertices--; m_simplexVectorW[index] = m_simplexVectorW[m_numVertices]; m_simplexPointsP[index] = m_simplexPointsP[m_numVertices]; @@ -77,7 +75,7 @@ void btVoronoiSimplexSolver::reset() //add a vertex -void btVoronoiSimplexSolver::addVertex(const btVector3& w, const btPoint3& p, const btPoint3& q) +void btVoronoiSimplexSolver::addVertex(const btVector3& w, const btVector3& p, const btVector3& q) { m_lastW = w; m_needsUpdate = true; @@ -267,7 +265,7 @@ btScalar btVoronoiSimplexSolver::maxVertex() //return the current simplex -int btVoronoiSimplexSolver::getSimplex(btPoint3 *pBuf, btPoint3 *qBuf, btVector3 *yBuf) const +int btVoronoiSimplexSolver::getSimplex(btVector3 *pBuf, btVector3 *qBuf, btVector3 *yBuf) const { int i; for (i=0;i<numVertices();i++) @@ -314,7 +312,7 @@ bool btVoronoiSimplexSolver::emptySimplex() const } -void btVoronoiSimplexSolver::compute_points(btPoint3& p1, btPoint3& p2) +void btVoronoiSimplexSolver::compute_points(btVector3& p1, btVector3& p2) { updateClosestVectorAndPoints(); p1 = m_cachedP1; @@ -325,7 +323,7 @@ void btVoronoiSimplexSolver::compute_points(btPoint3& p1, btPoint3& p2) -bool btVoronoiSimplexSolver::closestPtPointTriangle(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c,btSubSimplexClosestResult& result) +bool btVoronoiSimplexSolver::closestPtPointTriangle(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c,btSubSimplexClosestResult& result) { result.m_usedVertices.reset(); @@ -425,7 +423,7 @@ bool btVoronoiSimplexSolver::closestPtPointTriangle(const btPoint3& p, const btP /// Test if point p and d lie on opposite sides of plane through abc -int btVoronoiSimplexSolver::pointOutsideOfPlane(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c, const btPoint3& d) +int btVoronoiSimplexSolver::pointOutsideOfPlane(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d) { btVector3 normal = (b-a).cross(c-a); @@ -452,7 +450,7 @@ if (signd * signd < (btScalar(1e-8) * btScalar(1e-8))) } -bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c, const btPoint3& d, btSubSimplexClosestResult& finalResult) +bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, btSubSimplexClosestResult& finalResult) { btSubSimplexClosestResult tempResult; @@ -486,7 +484,7 @@ bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btPoint3& p, const if (pointOutsideABC) { closestPtPointTriangle(p, a, b, c,tempResult); - btPoint3 q = tempResult.m_closestPointOnSimplex; + btVector3 q = tempResult.m_closestPointOnSimplex; btScalar sqDist = (q - p).dot( q - p); // Update best closest point if (squared) distance is less than current best @@ -513,7 +511,7 @@ bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btPoint3& p, const if (pointOutsideACD) { closestPtPointTriangle(p, a, c, d,tempResult); - btPoint3 q = tempResult.m_closestPointOnSimplex; + btVector3 q = tempResult.m_closestPointOnSimplex; //convert result bitmask! btScalar sqDist = (q - p).dot( q - p); @@ -541,7 +539,7 @@ bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btPoint3& p, const if (pointOutsideADB) { closestPtPointTriangle(p, a, d, b,tempResult); - btPoint3 q = tempResult.m_closestPointOnSimplex; + btVector3 q = tempResult.m_closestPointOnSimplex; //convert result bitmask! btScalar sqDist = (q - p).dot( q - p); @@ -569,7 +567,7 @@ bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btPoint3& p, const if (pointOutsideBDC) { closestPtPointTriangle(p, b, d, c,tempResult); - btPoint3 q = tempResult.m_closestPointOnSimplex; + btVector3 q = tempResult.m_closestPointOnSimplex; //convert result bitmask! btScalar sqDist = (q - p).dot( q - p); if (sqDist < bestSqDist) |