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Cosmetic modifications to the code

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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@382 92aac97c-a6ce-11dd-a772-7fcde58d38e6
This commit is contained in:
chappuis.daniel 2010-08-27 10:00:25 +00:00
parent 898e9ba6f3
commit 4b6e2cd22b
7 changed files with 26 additions and 27 deletions
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4
sources/reactphysics3d/body/AABB.cpp
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@ -23,8 +23,8 @@
#include <GL/gl.h> // TODO : Remove this in the final version #include <GL/gl.h> // TODO : Remove this in the final version
#include <cassert> #include <cassert>
// We want to use the ReactPhysics3D namespace
using namespace reactphysics3d; using namespace reactphysics3d;
using namespace std;
// Constructor // Constructor
AABB::AABB(const Vector3D& center,double extentX, double extentY, double extentZ) { AABB::AABB(const Vector3D& center,double extentX, double extentY, double extentZ) {
@ -102,7 +102,7 @@ void AABB::draw() const {
// Static method that computes an AABB from a set of vertices. The "center" argument corresponds to the center of the AABB // Static method that computes an AABB from a set of vertices. The "center" argument corresponds to the center of the AABB
// This method allocates a new AABB object and return a pointer to the new allocated AABB object // This method allocates a new AABB object and return a pointer to the new allocated AABB object
AABB* AABB::computeFromVertices(const std::vector<Vector3D>& vertices, const Vector3D& center) { AABB* AABB::computeFromVertices(const vector<Vector3D>& vertices, const Vector3D& center) {
// TODO : Implement this method; // TODO : Implement this method;
return 0; return 0;
} }

4
sources/reactphysics3d/body/Body.cpp
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@ -32,6 +32,10 @@ Body::Body(double mass, BoundingVolume* broadBoundingVolume, BoundingVolume* nar
// We throw an exception // We throw an exception
throw std::invalid_argument("Exception in Body constructor : the mass has to be different larger than zero"); throw std::invalid_argument("Exception in Body constructor : the mass has to be different larger than zero");
} }
// Set the body pointer to the bounding volumes
broadBoundingVolume->setBodyPointer(this);
narrowBoundingVolume->setBodyPointer(this);
} }
// Destructor // Destructor

14
sources/reactphysics3d/body/OBB.cpp
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@ -24,8 +24,8 @@
#include <GL/gl.h> // TODO : Remove this in the final version #include <GL/gl.h> // TODO : Remove this in the final version
#include <cassert> #include <cassert>
// We want to use the ReactPhysics3D namespace
using namespace reactphysics3d; using namespace reactphysics3d;
using namespace std;
// Constructor // Constructor
OBB::OBB(const Vector3D& center, const Vector3D& axis1, const Vector3D& axis2, OBB::OBB(const Vector3D& center, const Vector3D& axis1, const Vector3D& axis2,
@ -114,10 +114,10 @@ void OBB::draw() const {
// Return all the vertices that are projected at the extreme of the projection of the bouding volume on the axis. // Return all the vertices that are projected at the extreme of the projection of the bouding volume on the axis.
// If the extreme vertices are part of a face of the OBB, the returned vertices will be ordered according to the face. // If the extreme vertices are part of a face of the OBB, the returned vertices will be ordered according to the face.
std::vector<Vector3D> OBB::getExtremeVertices(const Vector3D& directionAxis) const { vector<Vector3D> OBB::getExtremeVertices(const Vector3D& directionAxis) const {
assert(directionAxis.length() != 0); assert(directionAxis.length() != 0);
std::vector<Vector3D> extremeVertices; vector<Vector3D> extremeVertices;
// Check if the given axis is parallel to an axis on the OBB // Check if the given axis is parallel to an axis on the OBB
if (axis[0].isParallelWith(directionAxis)) { if (axis[0].isParallelWith(directionAxis)) {
@ -179,10 +179,10 @@ std::vector<Vector3D> OBB::getExtremeVertices(const Vector3D& directionAxis) con
// Return the 4 vertices of a face of the OBB. The 4 vertices will be ordered. The convention is that the index 0 corresponds to // Return the 4 vertices of a face of the OBB. The 4 vertices will be ordered. The convention is that the index 0 corresponds to
// the face in the direction of the axis[0], 1 corresponds to the face in the opposite direction of the axis[0], 2 corresponds to // the face in the direction of the axis[0], 1 corresponds to the face in the opposite direction of the axis[0], 2 corresponds to
// the face in the direction of the axis[1], etc. // the face in the direction of the axis[1], etc.
std::vector<Vector3D> OBB::getFace(unsigned int index) const throw(std::invalid_argument) { vector<Vector3D> OBB::getFace(unsigned int index) const throw(invalid_argument) {
// Check the argument // Check the argument
if (index >=0 && index <6) { if (index >=0 && index <6) {
std::vector<Vector3D> vertices; vector<Vector3D> vertices;
switch(index) { switch(index) {
case 0: vertices.push_back(center + (axis[0]*extent[0]) + (axis[1]*extent[1]) - (axis[2]*extent[2])); case 0: vertices.push_back(center + (axis[0]*extent[0]) + (axis[1]*extent[1]) - (axis[2]*extent[2]));
vertices.push_back(center + (axis[0]*extent[0]) + (axis[1]*extent[1]) + (axis[2]*extent[2])); vertices.push_back(center + (axis[0]*extent[0]) + (axis[1]*extent[1]) + (axis[2]*extent[2]));
@ -222,13 +222,13 @@ std::vector<Vector3D> OBB::getFace(unsigned int index) const throw(std::invalid_
} }
else { else {
// Throw an exception // Throw an exception
throw std::invalid_argument("Exception: The argument must be between 0 and 5"); throw invalid_argument("Exception: The argument must be between 0 and 5");
} }
} }
// Static method that computes an OBB from a set of vertices. The "center" argument corresponds to the center of the OBB // Static method that computes an OBB from a set of vertices. The "center" argument corresponds to the center of the OBB
// This method allocates a new OBB object and return a pointer to the new allocated OBB object // This method allocates a new OBB object and return a pointer to the new allocated OBB object
OBB* OBB::computeFromVertices(const std::vector<Vector3D>& vertices, const Vector3D& center) { OBB* OBB::computeFromVertices(const vector<Vector3D>& vertices, const Vector3D& center) {
// TODO : Implement this method; // TODO : Implement this method;
return 0; return 0;
} }

5
sources/reactphysics3d/body/RigidBody.cpp
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@ -39,11 +39,6 @@
assert(broadBoundingVolume); assert(broadBoundingVolume);
assert(narrowBoundingVolume); assert(narrowBoundingVolume);
// Set the body pointer to the bounding volumes
// TODO : Move this in the Body constructor
broadBoundingVolume->setBodyPointer(this);
narrowBoundingVolume->setBodyPointer(this);
} }
// Destructor // Destructor

18
sources/reactphysics3d/collision/CollisionDetection.cpp
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@ -115,8 +115,8 @@ void CollisionDetection::computeContact(const ContactInfo* const contactInfo) {
Vector3D normal = contactInfo->normal; Vector3D normal = contactInfo->normal;
double penetrationDepth = contactInfo->penetrationDepth; double penetrationDepth = contactInfo->penetrationDepth;
const std::vector<Vector3D> obb1ExtremePoints = obb1->getExtremeVertices(normal); const vector<Vector3D> obb1ExtremePoints = obb1->getExtremeVertices(normal);
const std::vector<Vector3D> obb2ExtremePoints = obb2->getExtremeVertices(normal.getOpposite()); const vector<Vector3D> obb2ExtremePoints = obb2->getExtremeVertices(normal.getOpposite());
unsigned int nbVerticesExtremeOBB1 = obb1ExtremePoints.size(); unsigned int nbVerticesExtremeOBB1 = obb1ExtremePoints.size();
unsigned int nbVerticesExtremeOBB2 = obb2ExtremePoints.size(); unsigned int nbVerticesExtremeOBB2 = obb2ExtremePoints.size();
assert(nbVerticesExtremeOBB1==1 || nbVerticesExtremeOBB1==2 || nbVerticesExtremeOBB1==4); assert(nbVerticesExtremeOBB1==1 || nbVerticesExtremeOBB1==2 || nbVerticesExtremeOBB1==4);
@ -138,7 +138,7 @@ void CollisionDetection::computeContact(const ContactInfo* const contactInfo) {
Vector3D d2 = obb2ExtremePoints[1] - obb2ExtremePoints[0]; Vector3D d2 = obb2ExtremePoints[1] - obb2ExtremePoints[0];
double alpha, beta; double alpha, beta;
std::vector<Vector3D> contactSet; vector<Vector3D> contactSet;
// If the two edges are parallel // If the two edges are parallel
if (d1.isParallelWith(d2)) { if (d1.isParallelWith(d2)) {
@ -174,10 +174,10 @@ void CollisionDetection::computeContact(const ContactInfo* const contactInfo) {
} }
else if(nbVerticesExtremeOBB1 == 2 && nbVerticesExtremeOBB2 == 4) { // If it's an edge-face contact else if(nbVerticesExtremeOBB1 == 2 && nbVerticesExtremeOBB2 == 4) { // If it's an edge-face contact
// Compute the projection of the edge of OBB1 onto the same plane of the face of OBB2 // Compute the projection of the edge of OBB1 onto the same plane of the face of OBB2
std::vector<Vector3D> edge = projectPointsOntoPlane(obb1ExtremePoints, obb2ExtremePoints[0], normal); vector<Vector3D> edge = projectPointsOntoPlane(obb1ExtremePoints, obb2ExtremePoints[0], normal);
// Clip the edge of OBB1 using the face of OBB2 // Clip the edge of OBB1 using the face of OBB2
std::vector<Vector3D> clippedEdge = clipSegmentWithRectangleInPlane(edge, obb2ExtremePoints); vector<Vector3D> clippedEdge = clipSegmentWithRectangleInPlane(edge, obb2ExtremePoints);
// TODO : Correct this bug // TODO : Correct this bug
// The following code is to correct a bug when the projected "edge" is not inside the clip rectangle // The following code is to correct a bug when the projected "edge" is not inside the clip rectangle
@ -202,10 +202,10 @@ void CollisionDetection::computeContact(const ContactInfo* const contactInfo) {
} }
else if(nbVerticesExtremeOBB1 == 4 && nbVerticesExtremeOBB2 == 2) { // If it's an edge-face contact else if(nbVerticesExtremeOBB1 == 4 && nbVerticesExtremeOBB2 == 2) { // If it's an edge-face contact
// Compute the projection of the edge of OBB2 onto the same plane of the face of OBB1 // Compute the projection of the edge of OBB2 onto the same plane of the face of OBB1
std::vector<Vector3D> edge = projectPointsOntoPlane(obb2ExtremePoints, obb1ExtremePoints[0], normal); vector<Vector3D> edge = projectPointsOntoPlane(obb2ExtremePoints, obb1ExtremePoints[0], normal);
// Clip the edge of OBB2 using the face of OBB1 // Clip the edge of OBB2 using the face of OBB1
std::vector<Vector3D> clippedEdge = clipSegmentWithRectangleInPlane(edge, obb1ExtremePoints); vector<Vector3D> clippedEdge = clipSegmentWithRectangleInPlane(edge, obb1ExtremePoints);
// TODO : Correct this bug // TODO : Correct this bug
// The following code is to correct a bug when the projected "edge" is not inside the clip rectangle // The following code is to correct a bug when the projected "edge" is not inside the clip rectangle
@ -230,10 +230,10 @@ void CollisionDetection::computeContact(const ContactInfo* const contactInfo) {
} }
else { // If it's a face-face contact else { // If it's a face-face contact
// Compute the projection of the face vertices of OBB2 onto the plane of the face of OBB1 // Compute the projection of the face vertices of OBB2 onto the plane of the face of OBB1
std::vector<Vector3D> faceOBB2 = projectPointsOntoPlane(obb2ExtremePoints, obb1ExtremePoints[0], normal); vector<Vector3D> faceOBB2 = projectPointsOntoPlane(obb2ExtremePoints, obb1ExtremePoints[0], normal);
// Clip the face of OBB2 using the face of OBB1 // Clip the face of OBB2 using the face of OBB1
std::vector<Vector3D> clippedFace = clipPolygonWithRectangleInPlane(faceOBB2, obb1ExtremePoints); vector<Vector3D> clippedFace = clipPolygonWithRectangleInPlane(faceOBB2, obb1ExtremePoints);
// Move the clipped face halfway between the face of OBB1 and the face of OBB2 // Move the clipped face halfway between the face of OBB1 and the face of OBB2
clippedFace = movePoints(clippedFace, penetrationDepth/2.0 * normal); clippedFace = movePoints(clippedFace, penetrationDepth/2.0 * normal);

2
sources/reactphysics3d/collision/SAPAlgorithm.cpp
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@ -55,7 +55,7 @@ void SAPAlgorithm::removeBodiesAABB(vector<Body*> bodies) {
} }
// Add the AABB representation of a given body in the sortedAABBs set // Add the AABB representation of a given body in the sortedAABBs set
void SAPAlgorithm::addBodiesAABB(std::vector<Body*> bodies) { void SAPAlgorithm::addBodiesAABB(vector<Body*> bodies) {
const AABB* aabb; const AABB* aabb;
for (vector<Body*>::iterator it = bodies.begin(); it != bodies.end(); it++) { for (vector<Body*>::iterator it = bodies.begin(); it != bodies.end(); it++) {

4
sources/reactphysics3d/constraint/Contact.h
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@ -29,8 +29,8 @@
namespace reactphysics3d { namespace reactphysics3d {
// Constants // Constants
const double FRICTION_COEFFICIENT = 0.5; // Friction coefficient const double FRICTION_COEFFICIENT = 0.3; // Friction coefficient
const double PENETRATION_FACTOR = 1.0; // Penetration factor (between 0 and 1) which specify the importance of the const double PENETRATION_FACTOR = 0.0; // Penetration factor (between 0 and 1) which specify the importance of the
// penetration depth in order to calculate the correct impulse for the contact // penetration depth in order to calculate the correct impulse for the contact
/* ------------------------------------------------------------------- /* -------------------------------------------------------------------