bulletRotationStep --> computeBulletRotationStep

libraries/entities/src/EntityItem.cpp

@@ -718,14 +718,14 @@ void EntityItem::simulateKinematicMotion(float timeElapsed) {
             glm::quat rotation = getRotation();
             float dt = timeElapsed;
             while (dt > PHYSICS_ENGINE_FIXED_SUBSTEP) {
-                glm::quat  dQ = bulletRotationStep(angularVelocity, PHYSICS_ENGINE_FIXED_SUBSTEP);
+                glm::quat  dQ = computeBulletRotationStep(angularVelocity, PHYSICS_ENGINE_FIXED_SUBSTEP);
                 rotation = glm::normalize(dQ * rotation);
                 dt -= PHYSICS_ENGINE_FIXED_SUBSTEP;
             }
             // NOTE: this final partial substep can drift away from a real Bullet simulation however 
             // it only becomes significant for rapidly rotating objects
             // (e.g. around PI/4 radians per substep, or 7.5 rotations/sec at 60 substeps/sec).
-            glm::quat  dQ = bulletRotationStep(angularVelocity, dt);
+            glm::quat  dQ = computeBulletRotationStep(angularVelocity, dt);
             rotation = glm::normalize(dQ * rotation);
 
             setRotation(rotation);

libraries/physics/src/BulletUtil.h

@@ -32,6 +32,4 @@ inline btQuaternion glmToBullet(const glm::quat& g) {
     return btQuaternion(g.x, g.y, g.z, g.w);
 }
 
-glm::quat bulletRotationStep(const glm::vec3& angularVelocity, float deltaTime);
-
 #endif // hifi_BulletUtil_h

libraries/physics/src/ObjectMotionState.cpp

@@ -179,7 +179,7 @@ bool ObjectMotionState::shouldSendUpdate(uint32_t simulationFrame) {
         // Bullet caps the effective rotation velocity inside its rotation integration step, therefore 
         // we must integrate with the same algorithm and timestep in order achieve similar results.
         for (int i = 0; i < numFrames; ++i) {
-            _sentRotation = glm::normalize(bulletRotationStep(_sentAngularVelocity, PHYSICS_ENGINE_FIXED_SUBSTEP) * _sentRotation);
+            _sentRotation = glm::normalize(computeBulletRotationStep(_sentAngularVelocity, PHYSICS_ENGINE_FIXED_SUBSTEP) * _sentRotation);
         }
     }
     const float MIN_ROTATION_DOT = 0.99f; // 0.99 dot threshold coresponds to about 16 degrees of slop

libraries/shared/src/PhysicsHelpers.cpp

@@ -31,7 +31,7 @@
  *
  * Copied and modified from LinearMath/btTransformUtil.h by AndrewMeadows on 2015.01.27.
  * */
-glm::quat bulletRotationStep(const glm::vec3& angularVelocity, float timeStep) {
+glm::quat computeBulletRotationStep(const glm::vec3& angularVelocity, float timeStep) {
     // Bullet uses an exponential map approximation technique to integrate rotation.
     // The reason for this is to make it easy to compute the derivative of angular motion for various consraints.
     // Here we reproduce the same approximation so that our extrapolations agree well with Bullet's integration.

libraries/shared/src/PhysicsHelpers.h

@@ -18,6 +18,6 @@
 const float PHYSICS_ENGINE_FIXED_SUBSTEP = 1.0f / 60.0f;
 
 // return incremental rotation (Bullet-style) caused by angularVelocity over timeStep
-glm::quat bulletRotationStep(const glm::vec3& angularVelocity, float timeStep);
+glm::quat computeBulletRotationStep(const glm::vec3& angularVelocity, float timeStep);
 
 #endif // hifi_PhysicsHelpers_h