Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

allow getClosestPoints for btCompoundCollisionAlgorithm and btSphereTriangleCollisionAlgorithm

Browse Source 
add optional 'lightColor' arg to testrender.py script
This commit is contained in:
erwincoumans
2016-11-22 10:11:04 -08:00
parent 24c9020aac
commit 0516d2ecaa
4 changed files with 7 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
View File

@@ -100,7 +100,7 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po
btScalar radiusWithThreshold = radius + contactBreakingThreshold;
btVector3 normal = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]);
normal.normalize();
normal.safeNormalize();
btVector3 p1ToCentre = sphereCenter - vertices[0];
btScalar distanceFromPlane = p1ToCentre.dot(normal);

3
src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
View File

@@ -292,6 +292,9 @@ void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrap
btTransform otherInCompoundSpace;
otherInCompoundSpace = colObjWrap->getWorldTransform().inverse() * otherObjWrap->getWorldTransform();
otherObjWrap->getCollisionShape()->getAabb(otherInCompoundSpace,localAabbMin,localAabbMax);
btVector3 extraExtends(resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold);
localAabbMin -= extraExtends;
localAabbMax += extraExtends;
const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
//process all children, that overlap with the given AABB bounds

2
src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
View File

@@ -56,7 +56,7 @@ void btSphereTriangleCollisionAlgorithm::processCollision (const btCollisionObje
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut->setPersistentManifold(m_manifoldPtr);
SphereTriangleDetector detector(sphere,triangle, m_manifoldPtr->getContactBreakingThreshold());
SphereTriangleDetector detector(sphere,triangle, m_manifoldPtr->getContactBreakingThreshold()+ resultOut->m_closestPointDistanceThreshold);
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);///@todo: tighter bounds