Merge branch 'develop' of https://github.com/ColinGilbert/reactphysics3d into ColinGilbert-develop
This commit is contained in:
commit
16617fef8e
8
.gitignore
vendored
8
.gitignore
vendored
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@ -21,3 +21,11 @@
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Icon?
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ehthumbs.db
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Thumbs.db
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# vim swap files
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#####################
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*.*sw*
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# CMake build directory
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#######################
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build/*
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@ -400,7 +400,7 @@ void RigidBody::updateBroadPhaseState() const {
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PROFILE("RigidBody::updateBroadPhaseState()");
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DynamicsWorld& world = dynamic_cast<DynamicsWorld&>(mWorld);
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DynamicsWorld& world = static_cast<DynamicsWorld&>(mWorld);
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const Vector3 displacement = world.mTimeStep * mLinearVelocity;
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// For all the proxy collision shapes of the body
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@ -48,8 +48,8 @@ bool SphereVsSphereAlgorithm::testCollision(ProxyShape* collisionShape1,
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// Get the sphere collision shapes
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const CollisionShape* shape1 = collisionShape1->getCollisionShape();
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const CollisionShape* shape2 = collisionShape2->getCollisionShape();
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const SphereShape* sphereShape1 = dynamic_cast<const SphereShape*>(shape1);
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const SphereShape* sphereShape2 = dynamic_cast<const SphereShape*>(shape2);
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const SphereShape* sphereShape1 = static_cast<const SphereShape*>(shape1);
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const SphereShape* sphereShape2 = static_cast<const SphereShape*>(shape2);
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// Get the local-space to world-space transforms
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const Transform transform1 = collisionShape1->getBody()->getTransform() *
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@ -165,7 +165,7 @@ inline Vector3 BoxShape::getLocalSupportPointWithoutMargin(const Vector3& direct
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// Test equality between two box shapes
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inline bool BoxShape::isEqualTo(const CollisionShape& otherCollisionShape) const {
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const BoxShape& otherShape = dynamic_cast<const BoxShape&>(otherCollisionShape);
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const BoxShape& otherShape = static_cast<const BoxShape&>(otherCollisionShape);
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return (mExtent == otherShape.mExtent);
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}
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@ -162,7 +162,7 @@ inline void CapsuleShape::getLocalBounds(Vector3& min, Vector3& max) const {
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// Test equality between two capsule shapes
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inline bool CapsuleShape::isEqualTo(const CollisionShape& otherCollisionShape) const {
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const CapsuleShape& otherShape = dynamic_cast<const CapsuleShape&>(otherCollisionShape);
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const CapsuleShape& otherShape = static_cast<const CapsuleShape&>(otherCollisionShape);
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return (mRadius == otherShape.mRadius && mHalfHeight == otherShape.mHalfHeight);
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}
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@ -178,7 +178,7 @@ inline void ConeShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass
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// Test equality between two cone shapes
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inline bool ConeShape::isEqualTo(const CollisionShape& otherCollisionShape) const {
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const ConeShape& otherShape = dynamic_cast<const ConeShape&>(otherCollisionShape);
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const ConeShape& otherShape = static_cast<const ConeShape&>(otherCollisionShape);
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return (mRadius == otherShape.mRadius && mHalfHeight == otherShape.mHalfHeight);
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}
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@ -211,7 +211,7 @@ void ConvexMeshShape::recalculateBounds() {
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// Test equality between two cone shapes
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bool ConvexMeshShape::isEqualTo(const CollisionShape& otherCollisionShape) const {
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const ConvexMeshShape& otherShape = dynamic_cast<const ConvexMeshShape&>(otherCollisionShape);
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const ConvexMeshShape& otherShape = static_cast<const ConvexMeshShape&>(otherCollisionShape);
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assert(mNbVertices == mVertices.size());
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@ -175,7 +175,7 @@ inline void CylinderShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal
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// Test equality between two cylinder shapes
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inline bool CylinderShape::isEqualTo(const CollisionShape& otherCollisionShape) const {
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const CylinderShape& otherShape = dynamic_cast<const CylinderShape&>(otherCollisionShape);
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const CylinderShape& otherShape = static_cast<const CylinderShape&>(otherCollisionShape);
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return (mRadius == otherShape.mRadius && mHalfHeight == otherShape.mHalfHeight);
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}
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@ -197,7 +197,7 @@ inline void SphereShape::computeAABB(AABB& aabb, const Transform& transform) {
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// Test equality between two sphere shapes
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inline bool SphereShape::isEqualTo(const CollisionShape& otherCollisionShape) const {
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const SphereShape& otherShape = dynamic_cast<const SphereShape&>(otherCollisionShape);
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const SphereShape& otherShape = static_cast<const SphereShape&>(otherCollisionShape);
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return (mRadius == otherShape.mRadius);
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}
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@ -83,8 +83,8 @@ void ContactSolver::initializeForIsland(decimal dt, Island* island) {
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assert(externalManifold->getNbContactPoints() > 0);
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// Get the two bodies of the contact
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RigidBody* body1 = dynamic_cast<RigidBody*>(externalManifold->getContactPoint(0)->getBody1());
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RigidBody* body2 = dynamic_cast<RigidBody*>(externalManifold->getContactPoint(0)->getBody2());
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RigidBody* body1 = static_cast<RigidBody*>(externalManifold->getContactPoint(0)->getBody1());
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RigidBody* body2 = static_cast<RigidBody*>(externalManifold->getContactPoint(0)->getBody2());
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assert(body1 != NULL);
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assert(body2 != NULL);
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@ -510,7 +510,7 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) {
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case BALLSOCKETJOINT:
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{
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void* allocatedMemory = mMemoryAllocator.allocate(sizeof(BallAndSocketJoint));
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const BallAndSocketJointInfo& info = dynamic_cast<const BallAndSocketJointInfo&>(
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const BallAndSocketJointInfo& info = static_cast<const BallAndSocketJointInfo&>(
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jointInfo);
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newJoint = new (allocatedMemory) BallAndSocketJoint(info);
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break;
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@ -520,7 +520,7 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) {
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case SLIDERJOINT:
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{
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void* allocatedMemory = mMemoryAllocator.allocate(sizeof(SliderJoint));
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const SliderJointInfo& info = dynamic_cast<const SliderJointInfo&>(jointInfo);
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const SliderJointInfo& info = static_cast<const SliderJointInfo&>(jointInfo);
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newJoint = new (allocatedMemory) SliderJoint(info);
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break;
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}
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@ -529,7 +529,7 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) {
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case HINGEJOINT:
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{
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void* allocatedMemory = mMemoryAllocator.allocate(sizeof(HingeJoint));
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const HingeJointInfo& info = dynamic_cast<const HingeJointInfo&>(jointInfo);
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const HingeJointInfo& info = static_cast<const HingeJointInfo&>(jointInfo);
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newJoint = new (allocatedMemory) HingeJoint(info);
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break;
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}
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@ -538,7 +538,7 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) {
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case FIXEDJOINT:
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{
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void* allocatedMemory = mMemoryAllocator.allocate(sizeof(FixedJoint));
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const FixedJointInfo& info = dynamic_cast<const FixedJointInfo&>(jointInfo);
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const FixedJointInfo& info = static_cast<const FixedJointInfo&>(jointInfo);
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newJoint = new (allocatedMemory) FixedJoint(info);
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break;
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}
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@ -727,8 +727,8 @@ void DynamicsWorld::computeIslands() {
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contactManifold->mIsAlreadyInIsland = true;
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// Get the other body of the contact manifold
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RigidBody* body1 = dynamic_cast<RigidBody*>(contactManifold->getBody1());
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RigidBody* body2 = dynamic_cast<RigidBody*>(contactManifold->getBody2());
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RigidBody* body1 = static_cast<RigidBody*>(contactManifold->getBody1());
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RigidBody* body2 = static_cast<RigidBody*>(contactManifold->getBody2());
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RigidBody* otherBody = (body1->getID() == bodyToVisit->getID()) ? body2 : body1;
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// Check if the other body has already been added to the island
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joint->mIsAlreadyInIsland = true;
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// Get the other body of the contact manifold
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RigidBody* body1 = dynamic_cast<RigidBody*>(joint->getBody1());
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RigidBody* body2 = dynamic_cast<RigidBody*>(joint->getBody2());
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RigidBody* body1 = static_cast<RigidBody*>(joint->getBody1());
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RigidBody* body2 = static_cast<RigidBody*>(joint->getBody2());
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RigidBody* otherBody = (body1->getID() == bodyToVisit->getID()) ? body2 : body1;
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// Check if the other body has already been added to the island
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@ -99,7 +99,6 @@ class Cone : public openglframework::Mesh, public PhysicsObject {
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virtual void updateTransform(float interpolationFactor);
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};
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// Update the transform matrix of the object
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inline void Cone::updateTransform(float interpolationFactor) {
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mTransformMatrix = computeTransform(interpolationFactor, mScalingMatrix);
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}
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