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Calculate multiple contact points (for convex-convex and convex-plane) when less then 3 points exist in the persistent manifold.

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Uses the normal pertubation method, described by Gino van den Bergen:  http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=4&t=288&p=888#p888
Made btRigidBody::getInvInertiaDiagLocal const, thanks to abhikp (http://code.google.com/p/bullet/issues/detail?id=183 )
This commit is contained in:
erwin.coumans
2009-02-03 00:54:01 +00:00
parent bcbe730471
commit 0754876d77
7 changed files with 145 additions and 30 deletions
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2
src/BulletDynamics/Dynamics/btRigidBody.h
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@@ -243,7 +243,7 @@ public:
return m_totalTorque;
};
const btVector3& getInvInertiaDiagLocal()
const btVector3& getInvInertiaDiagLocal() const
{
return m_invInertiaLocal;
};