Changeset 8284 for code/branches/kicklib2/src/external/bullet/LinearMath/btTransformUtil.h

Timestamp:

Apr 21, 2011, 6:58:23 PM (13 years ago)

Author:

rgrieder

Message:

Merged revisions 7978 - 8096 from kicklib to kicklib2.

Location:

code/branches/kicklib2

Files:

• . (modified) (1 prop)
• src/external/bullet/LinearMath/btTransformUtil.h (modified) (5 diffs)

code/branches/kicklib2/src/external/bullet/LinearMath/btTransformUtil.h

@@ -22 +22 @@
 
 
-#define SIMDSQRT12 btScalar(0.7071067811865475244008443621048490)
-
-#define btRecipSqrt(x) ((btScalar)(btScalar(1.0)/btSqrt(btScalar(x))))          /* reciprocal square root */
 
 SIMD_FORCE_INLINE btVector3 btAabbSupport(const btVector3& halfExtents,const btVector3& supportDir)
@@ -34 +31 @@
 
 
-SIMD_FORCE_INLINE void btPlaneSpace1 (const btVector3& n, btVector3& p, btVector3& q)
-{
-  if (btFabs(n.z()) > SIMDSQRT12) {
-    // choose p in y-z plane
-    btScalar a = n[1]*n[1] + n[2]*n[2];
-    btScalar k = btRecipSqrt (a);
-    p.setValue(0,-n[2]*k,n[1]*k);
-    // set q = n x p
-    q.setValue(a*k,-n[0]*p[2],n[0]*p[1]);
-  }
-  else {
-    // choose p in x-y plane
-    btScalar a = n.x()*n.x() + n.y()*n.y();
-    btScalar k = btRecipSqrt (a);
-    p.setValue(-n.y()*k,n.x()*k,0);
-    // set q = n x p
-    q.setValue(-n.z()*p.y(),n.z()*p.x(),a*k);
-  }
-}
+
 
 
@@ -118 +97 @@
         static void calculateDiffAxisAngleQuaternion(const btQuaternion& orn0,const btQuaternion& orn1a,btVector3& axis,btScalar& angle)
         {
-                btQuaternion orn1 = orn0.farthest(orn1a);
+                btQuaternion orn1 = orn0.nearest(orn1a);
                 btQuaternion dorn = orn1 * orn0.inverse();
-                ///floating point inaccuracy can lead to w component > 1..., which breaks 
-                dorn.normalize();
                 angle = dorn.getAngle();
                 axis = btVector3(dorn.x(),dorn.y(),dorn.z());
@@ -210 +187 @@
                         btScalar maxAngularProjectedVelocity = angVelA.length() * m_boundingRadiusA + angVelB.length() * m_boundingRadiusB;
                         btVector3 relLinVel = (linVelB-linVelA);
-                        btScalar relLinVelocLength = (linVelB-linVelA).dot(m_separatingNormal);
+                        btScalar relLinVelocLength = relLinVel.dot(m_separatingNormal);
                         if (relLinVelocLength<0.f)
                         {
@@ -228 +205 @@
         void    initSeparatingDistance(const btVector3& separatingVector,btScalar separatingDistance,const btTransform& transA,const btTransform& transB)
         {
-                m_separatingNormal = separatingVector;
                 m_separatingDistance = separatingDistance;
-                
-                const btVector3& toPosA = transA.getOrigin();
-                const btVector3& toPosB = transB.getOrigin();
-                btQuaternion toOrnA = transA.getRotation();
-                btQuaternion toOrnB = transB.getRotation();
-                m_posA = toPosA;
-                m_posB = toPosB;
-                m_ornA = toOrnA;
-                m_ornB = toOrnB;
+
+                if (m_separatingDistance>0.f)
+                {
+                        m_separatingNormal = separatingVector;
+                        
+                        const btVector3& toPosA = transA.getOrigin();
+                        const btVector3& toPosB = transB.getOrigin();
+                        btQuaternion toOrnA = transA.getRotation();
+                        btQuaternion toOrnB = transB.getRotation();
+                        m_posA = toPosA;
+                        m_posB = toPosB;
+                        m_ornA = toOrnA;
+                        m_ornB = toOrnB;
+                }
         }