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rename function, remove indirection, fix bug

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This commit is contained in:
Irlan 2017-04-11 16:35:18 -03:00
parent d082c59754
commit bd69458750
16 changed files with 74 additions and 63 deletions
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4
examples/testbed/framework/debug_draw.cpp
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@ -64,7 +64,7 @@ b3Mat44 Camera::BuildProjectionMatrix() const
b3Transform Camera::BuildWorldTransform() const
{
b3Transform xf;
xf.rotation = b3ConvertQuatToRot(m_q);
xf.rotation = b3ConvertQuatToMat(m_q);
xf.position = (m_zoom * xf.rotation.z) - m_center;
return xf;
}
@ -78,7 +78,7 @@ b3Mat44 Camera::BuildWorldMatrix() const
b3Transform Camera::BuildViewTransform() const
{
b3Transform xf;
xf.rotation = b3ConvertQuatToRot(m_q);
xf.rotation = b3ConvertQuatToMat(m_q);
xf.position = (m_zoom * xf.rotation.z) - m_center;
return b3Inverse(xf);
}

4
examples/testbed/tests/capsule_and_hull_collision_1.h
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@ -25,14 +25,14 @@ public:
CapsuleAndHullCollision1()
{
m_xfA.position.Set(0.0f, 0.0f, 0.0f);
m_xfA.rotation = b3ConvertQuatToRot(b3Quat(b3Vec3(0.0f, 0.0f, 1.0f), 0.55f * B3_PI));
m_xfA.rotation = b3ConvertQuatToMat(b3Quat(b3Vec3(0.0f, 0.0f, 1.0f), 0.55f * B3_PI));
m_sA.m_centers[0].Set(1.0f, -1.0f, 0.0f);
m_sA.m_centers[1].Set(0.0f, 1.0f, 0.0f);
m_sA.m_radius = 2.0f;
m_xfB.position.Set(0.f, 0.0f, 0.0f);
m_xfB.rotation = b3ConvertQuatToRot(b3Quat(b3Vec3(0.0f, 0.0f, 1.0f), 0.0f * B3_PI));
m_xfB.rotation = b3ConvertQuatToMat(b3Quat(b3Vec3(0.0f, 0.0f, 1.0f), 0.0f * B3_PI));
b3Transform xf;
xf.SetIdentity();

4
examples/testbed/tests/capsule_and_hull_collision_2.h
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@ -25,14 +25,14 @@ public:
CapsuleAndHullCollision2()
{
m_xfA.position.Set(0.0f, 0.0f, 0.0f);
m_xfA.rotation = b3ConvertQuatToRot(b3Quat(b3Vec3(0.0f, 0.0f, 1.0f), 0.55f * B3_PI));
m_xfA.rotation = b3ConvertQuatToMat(b3Quat(b3Vec3(0.0f, 0.0f, 1.0f), 0.55f * B3_PI));
m_sA.m_centers[0].Set(0.0f, 0.0f, 0.0f);
m_sA.m_centers[1].Set(0.0f, 0.0f, 0.0f);
m_sA.m_radius = 0.05f;
m_xfB.position.Set(0.f, 0.0f, 0.0f);
m_xfB.rotation = b3ConvertQuatToRot(b3Quat(b3Vec3(0.0f, 0.0f, 1.0f), 0.0f * B3_PI));
m_xfB.rotation = b3ConvertQuatToMat(b3Quat(b3Vec3(0.0f, 0.0f, 1.0f), 0.0f * B3_PI));
b3Transform xf;
xf.SetIdentity();

4
examples/testbed/tests/collide_test.h
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@ -92,7 +92,7 @@ public:
if (key == GLFW_KEY_X)
{
b3Quat qx(b3Vec3(1.0f, 0.0f, 0.0f), 0.05f * B3_PI);
b3Mat33 xfx = b3ConvertQuatToRot(qx);
b3Mat33 xfx = b3ConvertQuatToMat(qx);
m_xfB.rotation = m_xfB.rotation * xfx;
}
@ -100,7 +100,7 @@ public:
if (key == GLFW_KEY_Y)
{
b3Quat qy(b3Vec3(0.0f, 1.0f, 0.0f), 0.05f * B3_PI);
b3Mat33 xfy = b3ConvertQuatToRot(qy);
b3Mat33 xfy = b3ConvertQuatToMat(qy);
m_xfB.rotation = m_xfB.rotation * xfy;
}

4
examples/testbed/tests/distance_test.h
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@ -103,7 +103,7 @@ public:
if (key == GLFW_KEY_X)
{
b3Quat qx(b3Vec3(1.0f, 0.0f, 0.0f), 0.05f * B3_PI);
b3Mat33 xfx = b3ConvertQuatToRot(qx);
b3Mat33 xfx = b3ConvertQuatToMat(qx);
m_xfB.rotation = m_xfB.rotation * xfx;
}
@ -111,7 +111,7 @@ public:
if (key == GLFW_KEY_Y)
{
b3Quat qy(b3Vec3(0.0f, 1.0f, 0.0f), 0.05f * B3_PI);
b3Mat33 xfy = b3ConvertQuatToRot(qy);
b3Mat33 xfy = b3ConvertQuatToMat(qy);
m_xfB.rotation = m_xfB.rotation * xfy;
}

1
examples/testbed/tests/shape_stack.h
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@ -26,6 +26,7 @@ public:
{
{
b3BodyDef bd;
bd.orientation.Set(b3Vec3(0.0f, 1.0f, 0.0f), 0.18f * B3_PI);
b3Body* ground = m_world.CreateBody(bd);
b3MeshShape ms;

27
include/bounce/common/geometry.h
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@ -100,33 +100,6 @@ inline void b3BarycentricCoordinates(float32 out[3],
out[2] = divisor;
}
// Convert a point Q from euclidean coordinates to barycentric coordinates (u, v, w)
// with respect to a triangle ABC.
// The last output value is the divisor.
inline void b3BarycentricCoordinates(float32 out[4],
const b3Vec3& A, const b3Vec3& B, const b3Vec3& C,
const b3Vec3& Q)
{
b3Vec3 AB = B - A;
b3Vec3 AC = C - A;
b3Vec3 QA = A - Q;
b3Vec3 QB = B - Q;
b3Vec3 QC = C - Q;
b3Vec3 QB_x_QC = b3Cross(QB, QC);
b3Vec3 QC_x_QA = b3Cross(QC, QA);
b3Vec3 QA_x_QB = b3Cross(QA, QB);
b3Vec3 AB_x_AC = b3Cross(AB, AC);
float32 divisor = b3Dot(AB_x_AC, AB_x_AC);
out[0] = b3Dot(QB_x_QC, AB_x_AC);
out[1] = b3Dot(QC_x_QA, AB_x_AC);
out[2] = b3Dot(QA_x_QB, AB_x_AC);
out[3] = divisor;
}
// Project a point onto a segment AB.
inline b3Vec3 b3ClosestPointOnSegment(const b3Vec3& P, const b3Vec3& A, const b3Vec3& B)
{

12
include/bounce/common/math/quat.h
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@ -205,7 +205,7 @@ inline b3Quat b3Conjugate(const b3Quat& q)
return b3Quat(-q.x, -q.y, -q.z, q.w);
}
// Rotate a vector by an orientation quaternion.
// Rotate a vector.
inline b3Vec3 b3Mul(const b3Quat& q, const b3Vec3& v)
{
b3Vec3 qv(q.x, q.y, q.z);
@ -215,14 +215,14 @@ inline b3Vec3 b3Mul(const b3Quat& q, const b3Vec3& v)
return v + qs * t + b3Cross(qv, t);
}
// Inverse rotate a vector by an orientation quaternion.
// Inverse rotate a vector.
inline b3Vec3 b3MulT(const b3Quat& q, const b3Vec3& v)
{
return b3Mul(b3Conjugate(q), v);
}
// Convert a 3-by-3 rotation matrix to an orientation quaternion.
inline b3Quat b3ConvertRotToQuat(const b3Mat33& m)
// Convert a 3-by-3 rotation matrix to an rotation quaternion.
inline b3Quat b3ConvertMatToQuat(const b3Mat33& m)
{
// Check the diagonal.
float32 trace = m[0][0] + m[1][1] + m[2][2];
@ -286,8 +286,8 @@ inline b3Quat b3ConvertRotToQuat(const b3Mat33& m)
return result;
}
// Convert an orientation quaternion to a 3-by-3 rotation matrix.
inline b3Mat33 b3ConvertQuatToRot(const b3Quat& q)
// Convert an rotation quaternion to a 3-by-3 rotation matrix.
inline b3Mat33 b3ConvertQuatToMat(const b3Quat& q)
{
float32 x = q.x, y = q.y, z = q.z, w = q.w;
float32 x2 = x + x, y2 = y + y, z2 = z + z;

4
include/bounce/common/math/transform.h
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@ -35,7 +35,7 @@ struct b3Transform
b3Transform(const b3Vec3& p, const b3Quat& q)
{
position = p;
rotation = b3ConvertQuatToRot(q);
rotation = b3ConvertQuatToMat(q);
}
// Set this transform to the identity.
@ -75,7 +75,7 @@ inline b3Transform b3Sweep::GetTransform(float32 t) const
q.Normalize();
b3Transform xf;
xf.rotation = b3ConvertQuatToRot(q);
xf.rotation = b3ConvertQuatToMat(q);
xf.position = c - b3Mul(q, localCenter);
return xf;
}

2
include/bounce/dynamics/body.h
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@ -385,7 +385,7 @@ inline void b3Body::SetTransform(const b3Vec3& position, const b3Vec3& axis, flo
b3Quat q = b3Quat(axis, angle);
m_xf.position = position;
m_xf.rotation = b3ConvertQuatToRot(q);
m_xf.rotation = b3ConvertQuatToMat(q);
m_sweep.worldCenter = b3Mul(m_xf, m_sweep.localCenter);
m_sweep.orientation = q;

2
src/bounce/dynamics/body.cpp
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@ -77,7 +77,7 @@ b3Body::b3Body(const b3BodyDef& def, b3World* world)
m_sweep.t0 = 0.0f;
m_xf.position = m_sweep.worldCenter;
m_xf.rotation = b3ConvertQuatToRot(m_sweep.orientation);
m_xf.rotation = b3ConvertQuatToMat(m_sweep.orientation);
m_gravityScale = def.gravityScale;
m_userData = def.userData;

8
src/bounce/dynamics/contacts/contact_solver.cpp
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@ -176,11 +176,11 @@ void b3ContactSolver::InitializeConstraints()
b3Vec3 wB = m_velocities[indexB].w;
b3Transform xfA;
xfA.rotation = b3ConvertQuatToRot(qA);
xfA.rotation = b3ConvertQuatToMat(qA);
xfA.position = xA - b3Mul(xfA.rotation, localCenterA);
b3Transform xfB;
xfB.rotation = b3ConvertQuatToRot(qB);
xfB.rotation = b3ConvertQuatToMat(qB);
xfB.position = xB - b3Mul(xfB.rotation, localCenterB);
for (u32 j = 0; j < manifoldCount; ++j)
@ -532,11 +532,11 @@ bool b3ContactSolver::SolvePositionConstraints()
b3PositionConstraintPoint* pcp = pcm->points + k;
b3Transform xfA;
xfA.rotation = b3ConvertQuatToRot(qA);
xfA.rotation = b3ConvertQuatToMat(qA);
xfA.position = cA - b3Mul(xfA.rotation, localCenterA);
b3Transform xfB;
xfB.rotation = b3ConvertQuatToRot(qB);
xfB.rotation = b3ConvertQuatToMat(qB);
xfB.position = cB - b3Mul(xfB.rotation, localCenterB);
b3ContactPositionSolverPoint cpcp;

2
src/bounce/dynamics/contacts/mesh_contact.cpp
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@ -72,7 +72,7 @@ void b3MeshContact::SynchronizeShapes()
b3Sweep* sweepA = &bodyA->m_sweep;
b3Transform xfA0;
xfA0.position = sweepA->worldCenter0;
xfA0.rotation = b3ConvertQuatToRot(sweepA->orientation0);
xfA0.rotation = b3ConvertQuatToMat(sweepA->orientation0);
// Calculate the displacement of body A using its position at the last
// time step and the current position.

2
src/bounce/dynamics/joints/revolute_joint.cpp
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@ -180,7 +180,7 @@ void b3RevoluteJointDef::Initialize(b3Body* bA, b3Body* bB,
rotation.y = b3Perp(axis);
rotation.x = b3Cross(rotation.y, axis);
b3Quat q = b3ConvertRotToQuat(rotation);
b3Quat q = b3ConvertMatToQuat(rotation);
float32 len = q.Normalize();
B3_ASSERT(len > B3_EPSILON);

53
src/bounce/dynamics/shapes/mesh_shape.cpp
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@ -62,7 +62,15 @@ void b3MeshShape::ComputeAABB(b3AABB3* output, const b3Transform& xf) const
void b3MeshShape::ComputeAABB(b3AABB3* output, const b3Transform& xf, u32 index) const
{
*output = m_mesh->GetTriangleAABB(index);
B3_ASSERT(index < m_mesh->triangleCount);
const b3Triangle* triangle = m_mesh->triangles + index;
b3Vec3 v1 = b3Mul(xf, m_mesh->vertices[triangle->v1]);
b3Vec3 v2 = b3Mul(xf, m_mesh->vertices[triangle->v2]);
b3Vec3 v3 = b3Mul(xf, m_mesh->vertices[triangle->v3]);
output->m_lower = b3Min(b3Min(v1, v2), v3);
output->m_upper = b3Max(b3Max(v1, v2), v3);
output->Extend(m_radius);
}
bool b3MeshShape::TestPoint(const b3Vec3& point, const b3Transform& xf) const
@ -98,7 +106,7 @@ bool b3MeshShape::RayCast(b3RayCastOutput* output, const b3RayCastInput& input,
float32 t = numerator / denominator;
// Is the intersection point on the segment?
// Is the intersection not on the segment?
if (t < 0.0f || input.maxFraction < t)
{
return false;
@ -106,11 +114,32 @@ bool b3MeshShape::RayCast(b3RayCastOutput* output, const b3RayCastInput& input,
b3Vec3 q = p1 + t * d;
float32 w[4];
b3BarycentricCoordinates(w, v1, v2, v3, q);
// Barycentric coordinates for q
b3Vec3 Q = q;
b3Vec3 A = v1;
b3Vec3 B = v2;
b3Vec3 C = v3;
// Is the intersection point on the triangle?
if (w[0] > 0.0f && w[1] > 0.0f && w[2] > 0.0f)
b3Vec3 AB = B - A;
b3Vec3 AC = C - A;
b3Vec3 QA = A - Q;
b3Vec3 QB = B - Q;
b3Vec3 QC = C - Q;
b3Vec3 QB_x_QC = b3Cross(QB, QC);
b3Vec3 QC_x_QA = b3Cross(QC, QA);
b3Vec3 QA_x_QB = b3Cross(QA, QB);
b3Vec3 AB_x_AC = b3Cross(AB, AC);
float32 den = b3Dot(AB_x_AC, AB_x_AC);
float32 u = b3Dot(QB_x_QC, AB_x_AC);
float32 v = b3Dot(QC_x_QA, AB_x_AC);
float32 w = b3Dot(QA_x_QB, AB_x_AC);
// Is the intersection on the triangle?
if (u > 0.0f && v > 0.0f && w > 0.0f)
{
output->fraction = t;
@ -132,8 +161,10 @@ bool b3MeshShape::RayCast(b3RayCastOutput* output, const b3RayCastInput& input,
struct b3MeshRayCastCallback
{
float32 Report(const b3RayCastInput& input, u32 proxyId)
float32 Report(const b3RayCastInput& subInput, u32 proxyId)
{
B3_NOT_USED(subInput);
u32 childIndex = mesh->m_mesh->tree.GetUserData(proxyId);
b3RayCastOutput childOutput;
@ -150,6 +181,7 @@ struct b3MeshRayCastCallback
return 1.0f;
}
b3RayCastInput input;
const b3MeshShape* mesh;
b3Transform xf;
@ -160,12 +192,17 @@ struct b3MeshRayCastCallback
bool b3MeshShape::RayCast(b3RayCastOutput* output, const b3RayCastInput& input, const b3Transform& xf) const
{
b3MeshRayCastCallback callback;
callback.input = input;
callback.mesh = this;
callback.xf = xf;
callback.hit = false;
callback.output.fraction = B3_MAX_FLOAT;
m_mesh->tree.RayCast(&callback, input);
b3RayCastInput subInput;
subInput.p1 = b3MulT(xf, input.p1);
subInput.p2 = b3MulT(xf, input.p2);
subInput.maxFraction = input.maxFraction;
m_mesh->tree.RayCast(&callback, subInput);
output->fraction = callback.output.fraction;
output->normal = callback.output.normal;