From 58bb137c4d01c175751fcdceb6302f9f48624efb Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Tue, 27 Jan 2015 17:37:12 -0800
Subject: [PATCH] bulletRotationStep --> computeBulletRotationStep

---
 libraries/entities/src/EntityItem.cpp       | 4 ++--
 libraries/physics/src/BulletUtil.h          | 2 --
 libraries/physics/src/ObjectMotionState.cpp | 2 +-
 libraries/shared/src/PhysicsHelpers.cpp     | 2 +-
 libraries/shared/src/PhysicsHelpers.h       | 2 +-
 5 files changed, 5 insertions(+), 7 deletions(-)

diff --git a/libraries/entities/src/EntityItem.cpp b/libraries/entities/src/EntityItem.cpp
index a6e3a90015..9012b2e50b 100644
--- a/libraries/entities/src/EntityItem.cpp
+++ b/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);
diff --git a/libraries/physics/src/BulletUtil.h b/libraries/physics/src/BulletUtil.h
index 15fb21364a..52bf2c8b06 100644
--- a/libraries/physics/src/BulletUtil.h
+++ b/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
diff --git a/libraries/physics/src/ObjectMotionState.cpp b/libraries/physics/src/ObjectMotionState.cpp
index a36418171f..21dead5b0b 100644
--- a/libraries/physics/src/ObjectMotionState.cpp
+++ b/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
diff --git a/libraries/shared/src/PhysicsHelpers.cpp b/libraries/shared/src/PhysicsHelpers.cpp
index eed31b36e6..80b8d11f26 100644
--- a/libraries/shared/src/PhysicsHelpers.cpp
+++ b/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.
diff --git a/libraries/shared/src/PhysicsHelpers.h b/libraries/shared/src/PhysicsHelpers.h
index cc5f4017b8..bef7275067 100644
--- a/libraries/shared/src/PhysicsHelpers.h
+++ b/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