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allow getClosestPoints for btCompoundCollisionAlgorithm and btSphereTriangleCollisionAlgorithm

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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
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src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
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@@ -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