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bugfix for compound versus concave: compute the DeltaC2 after computing the (child) transforms for proper center

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This commit is contained in:
erwin coumans
2013-04-12 13:02:35 -07:00
parent ec0d2ed523
commit 07b89beb39
9 changed files with 75 additions and 56 deletions
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18
demo/gpudemo/rigidbody/ConcaveScene.cpp
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@@ -160,12 +160,12 @@ void ConcaveScene::createConcaveMesh(const ConstructionInfo& ci)
objLoader* objData = new objLoader();
//char* fileName = "data/slopedPlane100.obj";
//char* fileName = "data/plane100.obj";
char* fileName = "data/plane100.obj";
// char* fileName = "data/plane100.obj";
//char* fileName = "data/teddy.obj";//"plane.obj";
// char* fileName = "data/sponza_closed.obj";//"plane.obj";
//char* fileName = "data/leoTest1.obj";
//char* fileName = "data/samurai_monastry.obj";
char* fileName = "data/samurai_monastry.obj";
// char* fileName = "data/teddy2_VHACD_CHs.obj";
btVector3 shift(0,0,0);//0,230,80);//150,-100,-120);
@@ -324,7 +324,7 @@ void ConcaveScene::createDynamicObjects(const ConstructionInfo& ci)
float mass = 1;
//btVector3 position(-2*ci.gapX+i*ci.gapX,25+j*ci.gapY,-2*ci.gapZ+k*ci.gapZ);
btVector3 position(-(ci.arraySizeX/2)*CONCAVE_GAPX+i*CONCAVE_GAPX,50+j*CONCAVE_GAPY,-(ci.arraySizeZ/2)*CONCAVE_GAPZ+k*CONCAVE_GAPZ);
btVector3 position(-(ci.arraySizeX/2)*CONCAVE_GAPX+i*CONCAVE_GAPX,150+j*CONCAVE_GAPY,-(ci.arraySizeZ/2)*CONCAVE_GAPZ+k*CONCAVE_GAPZ);
btQuaternion orn(0,0,0,1);
btVector4 color = colors[curColor];
@@ -359,8 +359,8 @@ void ConcaveCompound2Scene::createDynamicObjects(const ConstructionInfo& ci)
{
objLoader* objData = new objLoader();
//char* fileName = "data/teddy2_VHACD_CHs.obj";
char* fileName = "data/cube_offset.obj";
char* fileName = "data/teddy2_VHACD_CHs.obj";
//char* fileName = "data/cube_offset.obj";
btVector3 shift(0,0,0);//0,230,80);//150,-100,-120);
@@ -523,7 +523,7 @@ void ConcaveCompound2Scene::createDynamicObjects(const ConstructionInfo& ci)
childShapes.push_back(child);
colIndex = childColIndex;
}
//colIndex= m_data->m_np->registerCompoundShape(&childShapes);
colIndex= m_data->m_np->registerCompoundShape(&childShapes);
}
@@ -549,10 +549,10 @@ void ConcaveCompound2Scene::createDynamicObjects(const ConstructionInfo& ci)
float mass = 1;//j==0? 0.f : 1.f;
//btVector3 position(i*10*ci.gapX,j*ci.gapY,k*10*ci.gapZ);
btVector3 position(i*10*ci.gapX,1+j*ci.gapY,k*10*ci.gapZ);
btVector3 position(i*10*ci.gapX,50+j*ci.gapY,k*10*ci.gapZ);
// btQuaternion orn(0,0,0,1);
btQuaternion orn(btVector3(0,0,1),1.3);
btQuaternion orn(btVector3(0,0,1),1.8);
btVector4 color = colors[curColor];
curColor++;
@@ -665,7 +665,7 @@ btVector3 childPositions[3] = {
{
float mass = 1;//j==0? 0.f : 1.f;
btVector3 position(i*ci.gapX,10+j*ci.gapY,k*ci.gapZ);
btVector3 position(i*ci.gapX,150+j*ci.gapY,k*ci.gapZ);
//btQuaternion orn(0,0,0,1);
btQuaternion orn(btVector3(1,0,0),0.7);