AuroraMiddleware/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3 synced 2025-01-18 21:10:05 +00:00
Code Issues Releases Wiki Activity

avoid naming conflicts Bullet3/Bullet3

Browse Source
This commit is contained in:
Erwin Coumans 2015-11-08 19:31:03 -08:00
parent 72b68409da
commit 91204e8ed2
1 changed files with 22 additions and 22 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

44
src/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.cpp
View File

@ -55,7 +55,7 @@ namespace gjkepa2_impl2
// MinkowskiDiff
struct MinkowskiDiff
struct b3MinkowskiDiff
{
@ -106,11 +106,11 @@ namespace gjkepa2_impl2
}
};
typedef MinkowskiDiff tShape;
typedef b3MinkowskiDiff tShape;
// GJK
struct GJK
struct b3GJK
{
/* Types */
struct sSV
@ -141,7 +141,7 @@ namespace gjkepa2_impl2
sSimplex* m_simplex;
eStatus::_ m_status;
/* Methods */
GJK(const b3AlignedObjectArray<b3Vector3>& verticesA,const b3AlignedObjectArray<b3Vector3>& verticesB)
b3GJK(const b3AlignedObjectArray<b3Vector3>& verticesA,const b3AlignedObjectArray<b3Vector3>& verticesB)
:m_verticesA(verticesA),m_verticesB(verticesB)
{
Initialize();
@ -477,10 +477,10 @@ namespace gjkepa2_impl2
};
// EPA
struct EPA
struct b3EPA
{
/* Types */
typedef GJK::sSV sSV;
typedef b3GJK::sSV sSV;
struct sFace
{
b3Vector3 n;
@ -517,7 +517,7 @@ namespace gjkepa2_impl2
Failed };};
/* Fields */
eStatus::_ m_status;
GJK::sSimplex m_result;
b3GJK::sSimplex m_result;
b3Vector3 m_normal;
b3Scalar m_depth;
sSV m_sv_store[EPA_MAX_VERTICES];
@ -526,7 +526,7 @@ namespace gjkepa2_impl2
sList m_hull;
sList m_stock;
/* Methods */
EPA()
b3EPA()
{
Initialize();
}
@ -565,9 +565,9 @@ namespace gjkepa2_impl2
append(m_stock,&m_fc_store[EPA_MAX_FACES-i-1]);
}
}
eStatus::_ Evaluate(GJK& gjk,const b3Vector3& guess)
eStatus::_ Evaluate(b3GJK& gjk,const b3Vector3& guess)
{
GJK::sSimplex& simplex=*gjk.m_simplex;
b3GJK::sSimplex& simplex=*gjk.m_simplex;
if((simplex.rank>1)&&gjk.EncloseOrigin())
{
@ -837,7 +837,7 @@ using namespace gjkepa2_impl2;
//
int b3GjkEpaSolver2::StackSizeRequirement()
{
return(sizeof(GJK)+sizeof(EPA));
return(sizeof(b3GJK)+sizeof(b3EPA));
}
//
@ -850,9 +850,9 @@ bool b3GjkEpaSolver2::Distance( const b3Transform& transA, const b3Transform& t
{
tShape shape;
Initialize(transA,transB,hullA,hullB,verticesA,verticesB,results,shape,false);
GJK gjk(verticesA,verticesB);
GJK::eStatus::_ gjk_status=gjk.Evaluate(shape,guess);
if(gjk_status==GJK::eStatus::Valid)
b3GJK gjk(verticesA,verticesB);
b3GJK::eStatus::_ gjk_status=gjk.Evaluate(shape,guess);
if(gjk_status==b3GJK::eStatus::Valid)
{
b3Vector3 w0=b3MakeVector3(0,0,0);
b3Vector3 w1=b3MakeVector3(0,0,0);
@ -871,7 +871,7 @@ bool b3GjkEpaSolver2::Distance( const b3Transform& transA, const b3Transform& t
}
else
{
results.status = gjk_status==GJK::eStatus::Inside?
results.status = gjk_status==b3GJK::eStatus::Inside?
sResults::Penetrating :
sResults::GJK_Failed ;
return(false);
@ -890,15 +890,15 @@ bool b3GjkEpaSolver2::Penetration( const b3Transform& transA, const b3Transform&
tShape shape;
Initialize(transA,transB,hullA,hullB,verticesA,verticesB,results,shape,usemargins);
GJK gjk(verticesA,verticesB);
GJK::eStatus::_ gjk_status=gjk.Evaluate(shape,guess);
b3GJK gjk(verticesA,verticesB);
b3GJK::eStatus::_ gjk_status=gjk.Evaluate(shape,guess);
switch(gjk_status)
{
case GJK::eStatus::Inside:
case b3GJK::eStatus::Inside:
{
EPA epa;
EPA::eStatus::_ epa_status=epa.Evaluate(gjk,-guess);
if(epa_status!=EPA::eStatus::Failed)
b3EPA epa;
b3EPA::eStatus::_ epa_status=epa.Evaluate(gjk,-guess);
if(epa_status!=b3EPA::eStatus::Failed)
{
b3Vector3 w0=b3MakeVector3(0,0,0);
for(unsigned int i=0;i<epa.m_result.rank;++i)
@ -914,7 +914,7 @@ bool b3GjkEpaSolver2::Penetration( const b3Transform& transA, const b3Transform&
} else results.status=sResults::EPA_Failed;
}
break;
case GJK::eStatus::Failed:
case b3GJK::eStatus::Failed:
results.status=sResults::GJK_Failed;
break;
default: