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allow getClosestPoints for btCompoundCollisionAlgorithm and btSphereTriangleCollisionAlgorithm

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add optional 'lightColor' arg to testrender.py script
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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/btSphereTriangleCollisionAlgorithm.cpp
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@@ -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