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Removed obsolete btPoint3: use btVector3 instead

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This commit is contained in:
erwin.coumans
2008-10-27 19:56:48 +00:00
parent 52a151f5e4
commit 6f28170422
77 changed files with 215 additions and 261 deletions
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20
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuVoronoiSimplexSolver.cpp
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@@ -77,7 +77,7 @@ void SpuVoronoiSimplexSolver::reset()
//add a vertex
void SpuVoronoiSimplexSolver::addVertex(const btVector3& w, const btPoint3& p, const btPoint3& q)
void SpuVoronoiSimplexSolver::addVertex(const btVector3& w, const btVector3& p, const btVector3& q)
{
m_lastW = w;
m_needsUpdate = true;
@@ -269,7 +269,7 @@ btScalar SpuVoronoiSimplexSolver::maxVertex()
//return the current simplex
int SpuVoronoiSimplexSolver::getSimplex(btPoint3 *pBuf, btPoint3 *qBuf, btVector3 *yBuf) const
int SpuVoronoiSimplexSolver::getSimplex(btVector3 *pBuf, btVector3 *qBuf, btVector3 *yBuf) const
{
int i;
for (i=0;i<numVertices();i++)
@@ -316,7 +316,7 @@ bool SpuVoronoiSimplexSolver::emptySimplex() const
}
void SpuVoronoiSimplexSolver::compute_points(btPoint3& p1, btPoint3& p2)
void SpuVoronoiSimplexSolver::compute_points(btVector3& p1, btVector3& p2)
{
updateClosestVectorAndPoints();
p1 = m_cachedP1;
@@ -327,7 +327,7 @@ void SpuVoronoiSimplexSolver::compute_points(btPoint3& p1, btPoint3& p2)
bool SpuVoronoiSimplexSolver::closestPtPointTriangle(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c,SpuSubSimplexClosestResult& result)
bool SpuVoronoiSimplexSolver::closestPtPointTriangle(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c,SpuSubSimplexClosestResult& result)
{
result.m_usedVertices.reset();
@@ -427,7 +427,7 @@ bool SpuVoronoiSimplexSolver::closestPtPointTriangle(const btPoint3& p, const bt
/// Test if point p and d lie on opposite sides of plane through abc
int SpuVoronoiSimplexSolver::pointOutsideOfPlane(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c, const btPoint3& d)
int SpuVoronoiSimplexSolver::pointOutsideOfPlane(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d)
{
btVector3 normal = (b-a).cross(c-a);
@@ -454,7 +454,7 @@ if (signd * signd < (btScalar(1e-8) * btScalar(1e-8)))
}
bool SpuVoronoiSimplexSolver::closestPtPointTetrahedron(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c, const btPoint3& d, SpuSubSimplexClosestResult& finalResult)
bool SpuVoronoiSimplexSolver::closestPtPointTetrahedron(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, SpuSubSimplexClosestResult& finalResult)
{
SpuSubSimplexClosestResult tempResult;
@@ -488,7 +488,7 @@ bool SpuVoronoiSimplexSolver::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
@@ -515,7 +515,7 @@ bool SpuVoronoiSimplexSolver::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);
@@ -542,7 +542,7 @@ bool SpuVoronoiSimplexSolver::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 +569,7 @@ bool SpuVoronoiSimplexSolver::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)