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Merge branch 'develop' of https://github.com/ColinGilbert/reactphysics3d into ColinGilbert-develop

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This commit is contained in:
Daniel Chappuis 2015-08-27 22:32:18 +02:00
commit 16617fef8e
14 changed files with 157 additions and 150 deletions

8
.gitignore vendored
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@ -21,3 +21,11 @@
Icon? Icon?
ehthumbs.db ehthumbs.db
Thumbs.db Thumbs.db
# vim swap files
#####################
*.*sw*
# CMake build directory
#######################
build/*

2
src/body/RigidBody.cpp
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@ -400,7 +400,7 @@ void RigidBody::updateBroadPhaseState() const {
PROFILE("RigidBody::updateBroadPhaseState()"); PROFILE("RigidBody::updateBroadPhaseState()");
DynamicsWorld& world = dynamic_cast<DynamicsWorld&>(mWorld); DynamicsWorld& world = static_cast<DynamicsWorld&>(mWorld);
const Vector3 displacement = world.mTimeStep * mLinearVelocity; const Vector3 displacement = world.mTimeStep * mLinearVelocity;
// For all the proxy collision shapes of the body // For all the proxy collision shapes of the body

4
src/collision/narrowphase/SphereVsSphereAlgorithm.cpp
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@ -48,8 +48,8 @@ bool SphereVsSphereAlgorithm::testCollision(ProxyShape* collisionShape1,
// Get the sphere collision shapes // Get the sphere collision shapes
const CollisionShape* shape1 = collisionShape1->getCollisionShape(); const CollisionShape* shape1 = collisionShape1->getCollisionShape();
const CollisionShape* shape2 = collisionShape2->getCollisionShape(); const CollisionShape* shape2 = collisionShape2->getCollisionShape();
const SphereShape* sphereShape1 = dynamic_cast<const SphereShape*>(shape1); const SphereShape* sphereShape1 = static_cast<const SphereShape*>(shape1);
const SphereShape* sphereShape2 = dynamic_cast<const SphereShape*>(shape2); const SphereShape* sphereShape2 = static_cast<const SphereShape*>(shape2);
// Get the local-space to world-space transforms // Get the local-space to world-space transforms
const Transform transform1 = collisionShape1->getBody()->getTransform() * const Transform transform1 = collisionShape1->getBody()->getTransform() *

2
src/collision/shapes/BoxShape.h
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@ -165,7 +165,7 @@ inline Vector3 BoxShape::getLocalSupportPointWithoutMargin(const Vector3& direct
// Test equality between two box shapes // Test equality between two box shapes
inline bool BoxShape::isEqualTo(const CollisionShape& otherCollisionShape) const { inline bool BoxShape::isEqualTo(const CollisionShape& otherCollisionShape) const {
const BoxShape& otherShape = dynamic_cast<const BoxShape&>(otherCollisionShape); const BoxShape& otherShape = static_cast<const BoxShape&>(otherCollisionShape);
return (mExtent == otherShape.mExtent); return (mExtent == otherShape.mExtent);
} }

2
src/collision/shapes/CapsuleShape.h
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@ -162,7 +162,7 @@ inline void CapsuleShape::getLocalBounds(Vector3& min, Vector3& max) const {
// Test equality between two capsule shapes // Test equality between two capsule shapes
inline bool CapsuleShape::isEqualTo(const CollisionShape& otherCollisionShape) const { inline bool CapsuleShape::isEqualTo(const CollisionShape& otherCollisionShape) const {
const CapsuleShape& otherShape = dynamic_cast<const CapsuleShape&>(otherCollisionShape); const CapsuleShape& otherShape = static_cast<const CapsuleShape&>(otherCollisionShape);
return (mRadius == otherShape.mRadius && mHalfHeight == otherShape.mHalfHeight); return (mRadius == otherShape.mRadius && mHalfHeight == otherShape.mHalfHeight);
} }

2
src/collision/shapes/ConeShape.h
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@ -178,7 +178,7 @@ inline void ConeShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass
// Test equality between two cone shapes // Test equality between two cone shapes
inline bool ConeShape::isEqualTo(const CollisionShape& otherCollisionShape) const { inline bool ConeShape::isEqualTo(const CollisionShape& otherCollisionShape) const {
const ConeShape& otherShape = dynamic_cast<const ConeShape&>(otherCollisionShape); const ConeShape& otherShape = static_cast<const ConeShape&>(otherCollisionShape);
return (mRadius == otherShape.mRadius && mHalfHeight == otherShape.mHalfHeight); return (mRadius == otherShape.mRadius && mHalfHeight == otherShape.mHalfHeight);
} }

2
src/collision/shapes/ConvexMeshShape.cpp
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@ -211,7 +211,7 @@ void ConvexMeshShape::recalculateBounds() {
// Test equality between two cone shapes // Test equality between two cone shapes
bool ConvexMeshShape::isEqualTo(const CollisionShape& otherCollisionShape) const { bool ConvexMeshShape::isEqualTo(const CollisionShape& otherCollisionShape) const {
const ConvexMeshShape& otherShape = dynamic_cast<const ConvexMeshShape&>(otherCollisionShape); const ConvexMeshShape& otherShape = static_cast<const ConvexMeshShape&>(otherCollisionShape);
assert(mNbVertices == mVertices.size()); assert(mNbVertices == mVertices.size());

2
src/collision/shapes/CylinderShape.h
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@ -175,7 +175,7 @@ inline void CylinderShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal
// Test equality between two cylinder shapes // Test equality between two cylinder shapes
inline bool CylinderShape::isEqualTo(const CollisionShape& otherCollisionShape) const { inline bool CylinderShape::isEqualTo(const CollisionShape& otherCollisionShape) const {
const CylinderShape& otherShape = dynamic_cast<const CylinderShape&>(otherCollisionShape); const CylinderShape& otherShape = static_cast<const CylinderShape&>(otherCollisionShape);
return (mRadius == otherShape.mRadius && mHalfHeight == otherShape.mHalfHeight); return (mRadius == otherShape.mRadius && mHalfHeight == otherShape.mHalfHeight);
} }

2
src/collision/shapes/SphereShape.h
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@ -197,7 +197,7 @@ inline void SphereShape::computeAABB(AABB& aabb, const Transform& transform) {
// Test equality between two sphere shapes // Test equality between two sphere shapes
inline bool SphereShape::isEqualTo(const CollisionShape& otherCollisionShape) const { inline bool SphereShape::isEqualTo(const CollisionShape& otherCollisionShape) const {
const SphereShape& otherShape = dynamic_cast<const SphereShape&>(otherCollisionShape); const SphereShape& otherShape = static_cast<const SphereShape&>(otherCollisionShape);
return (mRadius == otherShape.mRadius); return (mRadius == otherShape.mRadius);
} }

4
src/engine/ContactSolver.cpp
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@ -83,8 +83,8 @@ void ContactSolver::initializeForIsland(decimal dt, Island* island) {
assert(externalManifold->getNbContactPoints() > 0); assert(externalManifold->getNbContactPoints() > 0);
// Get the two bodies of the contact // Get the two bodies of the contact
RigidBody* body1 = dynamic_cast<RigidBody*>(externalManifold->getContactPoint(0)->getBody1()); RigidBody* body1 = static_cast<RigidBody*>(externalManifold->getContactPoint(0)->getBody1());
RigidBody* body2 = dynamic_cast<RigidBody*>(externalManifold->getContactPoint(0)->getBody2()); RigidBody* body2 = static_cast<RigidBody*>(externalManifold->getContactPoint(0)->getBody2());
assert(body1 != NULL); assert(body1 != NULL);
assert(body2 != NULL); assert(body2 != NULL);

16
src/engine/DynamicsWorld.cpp
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@ -510,7 +510,7 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) {
case BALLSOCKETJOINT: case BALLSOCKETJOINT:
{ {
void* allocatedMemory = mMemoryAllocator.allocate(sizeof(BallAndSocketJoint)); void* allocatedMemory = mMemoryAllocator.allocate(sizeof(BallAndSocketJoint));
const BallAndSocketJointInfo& info = dynamic_cast<const BallAndSocketJointInfo&>( const BallAndSocketJointInfo& info = static_cast<const BallAndSocketJointInfo&>(
jointInfo); jointInfo);
newJoint = new (allocatedMemory) BallAndSocketJoint(info); newJoint = new (allocatedMemory) BallAndSocketJoint(info);
break; break;
@ -520,7 +520,7 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) {
case SLIDERJOINT: case SLIDERJOINT:
{ {
void* allocatedMemory = mMemoryAllocator.allocate(sizeof(SliderJoint)); void* allocatedMemory = mMemoryAllocator.allocate(sizeof(SliderJoint));
const SliderJointInfo& info = dynamic_cast<const SliderJointInfo&>(jointInfo); const SliderJointInfo& info = static_cast<const SliderJointInfo&>(jointInfo);
newJoint = new (allocatedMemory) SliderJoint(info); newJoint = new (allocatedMemory) SliderJoint(info);
break; break;
} }
@ -529,7 +529,7 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) {
case HINGEJOINT: case HINGEJOINT:
{ {
void* allocatedMemory = mMemoryAllocator.allocate(sizeof(HingeJoint)); void* allocatedMemory = mMemoryAllocator.allocate(sizeof(HingeJoint));
const HingeJointInfo& info = dynamic_cast<const HingeJointInfo&>(jointInfo); const HingeJointInfo& info = static_cast<const HingeJointInfo&>(jointInfo);
newJoint = new (allocatedMemory) HingeJoint(info); newJoint = new (allocatedMemory) HingeJoint(info);
break; break;
} }
@ -538,7 +538,7 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) {
case FIXEDJOINT: case FIXEDJOINT:
{ {
void* allocatedMemory = mMemoryAllocator.allocate(sizeof(FixedJoint)); void* allocatedMemory = mMemoryAllocator.allocate(sizeof(FixedJoint));
const FixedJointInfo& info = dynamic_cast<const FixedJointInfo&>(jointInfo); const FixedJointInfo& info = static_cast<const FixedJointInfo&>(jointInfo);
newJoint = new (allocatedMemory) FixedJoint(info); newJoint = new (allocatedMemory) FixedJoint(info);
break; break;
} }
@ -727,8 +727,8 @@ void DynamicsWorld::computeIslands() {
contactManifold->mIsAlreadyInIsland = true; contactManifold->mIsAlreadyInIsland = true;
// Get the other body of the contact manifold // Get the other body of the contact manifold
RigidBody* body1 = dynamic_cast<RigidBody*>(contactManifold->getBody1()); RigidBody* body1 = static_cast<RigidBody*>(contactManifold->getBody1());
RigidBody* body2 = dynamic_cast<RigidBody*>(contactManifold->getBody2()); RigidBody* body2 = static_cast<RigidBody*>(contactManifold->getBody2());
RigidBody* otherBody = (body1->getID() == bodyToVisit->getID()) ? body2 : body1; RigidBody* otherBody = (body1->getID() == bodyToVisit->getID()) ? body2 : body1;
// Check if the other body has already been added to the island // Check if the other body has already been added to the island
@ -755,8 +755,8 @@ void DynamicsWorld::computeIslands() {
joint->mIsAlreadyInIsland = true; joint->mIsAlreadyInIsland = true;
// Get the other body of the contact manifold // Get the other body of the contact manifold
RigidBody* body1 = dynamic_cast<RigidBody*>(joint->getBody1()); RigidBody* body1 = static_cast<RigidBody*>(joint->getBody1());
RigidBody* body2 = dynamic_cast<RigidBody*>(joint->getBody2()); RigidBody* body2 = static_cast<RigidBody*>(joint->getBody2());
RigidBody* otherBody = (body1->getID() == bodyToVisit->getID()) ? body2 : body1; RigidBody* otherBody = (body1->getID() == bodyToVisit->getID()) ? body2 : body1;
// Check if the other body has already been added to the island // Check if the other body has already been added to the island

1
testbed/common/Cone.h
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@ -99,7 +99,6 @@ class Cone : public openglframework::Mesh, public PhysicsObject {
virtual void updateTransform(float interpolationFactor); virtual void updateTransform(float interpolationFactor);
}; };
// Update the transform matrix of the object
inline void Cone::updateTransform(float interpolationFactor) { inline void Cone::updateTransform(float interpolationFactor) {
mTransformMatrix = computeTransform(interpolationFactor, mScalingMatrix); mTransformMatrix = computeTransform(interpolationFactor, mScalingMatrix);
} }