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change class to structure for consistency

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This commit is contained in:
Irlan 2018-05-23 03:47:34 -03:00
parent 747e4ca158
commit 4b5df1dfc2
5 changed files with 32 additions and 36 deletions
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2
include/bounce/collision/gjk/gjk.h
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@ -23,7 +23,7 @@
///////////////////////////////////////////////////////////////////////////////////////////////////
class b3GJKProxy;
struct b3GJKProxy;
struct b3SimplexCache;
struct b3SimplexVertex

27
include/bounce/collision/gjk/gjk_proxy.h
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@ -22,10 +22,12 @@
#include <bounce/common/math/vec3.h>
// A GJK proxy encapsulates any convex hull to be used by the GJK.
class b3GJKProxy
struct b3GJKProxy
{
public:
b3GJKProxy() : m_vertices(NULL), m_count(0), m_radius(0.0f) { }
const b3Vec3* vertices; // vertices in this proxy
u32 vertexCount; // number of vertices
float32 radius; // proxy radius
b3Vec3 vertexBuffer[3]; // vertex buffer for convenience
// Get the number of vertices in this proxy.
u32 GetVertexCount() const;
@ -39,31 +41,26 @@ public:
// Convenience function.
// Get the support vertex in a given direction.
const b3Vec3& GetSupportVertex(const b3Vec3& direction) const;
const b3Vec3* m_vertices; // vertices in this proxy
u32 m_count; // number of vertices
float32 m_radius; // shape radius
b3Vec3 m_buffer[3]; // vertices from a child shape
};
inline u32 b3GJKProxy::GetVertexCount() const
{
return m_count;
return vertexCount;
}
inline const b3Vec3& b3GJKProxy::GetVertex(u32 index) const
{
B3_ASSERT(0 <= index && index < m_count);
return m_vertices[index];
B3_ASSERT(0 <= index && index < vertexCount);
return vertices[index];
}
inline u32 b3GJKProxy::GetSupportIndex(const b3Vec3& d) const
{
u32 maxIndex = 0;
float32 maxProjection = b3Dot(d, m_vertices[maxIndex]);
for (u32 i = 1; i < m_count; ++i)
float32 maxProjection = b3Dot(d, vertices[maxIndex]);
for (u32 i = 1; i < vertexCount; ++i)
{
float32 projection = b3Dot(d, m_vertices[i]);
float32 projection = b3Dot(d, vertices[i]);
if (projection > maxProjection)
{
maxIndex = i;
@ -76,7 +73,7 @@ inline u32 b3GJKProxy::GetSupportIndex(const b3Vec3& d) const
inline const b3Vec3& b3GJKProxy::GetSupportVertex(const b3Vec3& d) const
{
u32 index = GetSupportIndex(d);
return m_vertices[index];
return vertices[index];
}
#endif

5
include/bounce/dynamics/contacts/collide/collide.h
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@ -42,11 +42,10 @@ struct b3ConvexCache
};
// Used for computing the distance between two generic shapes.
class b3ShapeGJKProxy : public b3GJKProxy
struct b3ShapeGJKProxy : public b3GJKProxy
{
public:
b3ShapeGJKProxy() { }
b3ShapeGJKProxy(const b3Shape* shape, u32 index)
{
Set(shape, index);

4
src/bounce/collision/gjk/gjk.cpp
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@ -708,8 +708,8 @@ b3GJKOutput b3GJK(const b3Transform& xf1, const b3GJKProxy& proxy1,
// Apply radius if requested.
if (applyRadius)
{
float32 r1 = proxy1.m_radius;
float32 r2 = proxy2.m_radius;
float32 r1 = proxy1.radius;
float32 r2 = proxy2.radius;
if (output.distance > r1 + r2 && output.distance > B3_EPSILON)
{

30
src/bounce/dynamics/contacts/collide/collide.cpp
View File

@ -34,25 +34,25 @@ void b3ShapeGJKProxy::Set(const b3Shape* shape, u32 index)
case e_sphereShape:
{
const b3SphereShape* sphere = (b3SphereShape*)shape;
m_count = 1;
m_vertices = &sphere->m_center;
m_radius = sphere->m_radius;
vertexCount = 1;
vertices = &sphere->m_center;
radius = sphere->m_radius;
break;
}
case e_capsuleShape:
{
const b3CapsuleShape* capsule = (b3CapsuleShape*)shape;
m_count = 2;
m_vertices = capsule->m_centers;
m_radius = capsule->m_radius;
vertexCount = 2;
vertices = capsule->m_centers;
radius = capsule->m_radius;
break;
}
case e_hullShape:
{
const b3HullShape* hull = (b3HullShape*)shape;
m_count = hull->m_hull->vertexCount;
m_vertices = hull->m_hull->vertices;
m_radius = hull->m_radius;
vertexCount = hull->m_hull->vertexCount;
vertices = hull->m_hull->vertices;
radius = hull->m_radius;
break;
}
case e_meshShape:
@ -64,13 +64,13 @@ void b3ShapeGJKProxy::Set(const b3Shape* shape, u32 index)
const b3Triangle& triangle = mesh->m_mesh->GetTriangle(index);
m_buffer[0] = mesh->m_mesh->vertices[triangle.v1];
m_buffer[1] = mesh->m_mesh->vertices[triangle.v2];
m_buffer[2] = mesh->m_mesh->vertices[triangle.v3];
vertexBuffer[0] = mesh->m_mesh->vertices[triangle.v1];
vertexBuffer[1] = mesh->m_mesh->vertices[triangle.v2];
vertexBuffer[2] = mesh->m_mesh->vertices[triangle.v3];
m_count = 3;
m_vertices = m_buffer;
m_radius = mesh->m_radius;
vertexCount = 3;
vertices = vertexBuffer;
radius = mesh->m_radius;
break;
}
default: