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make relative contact breaking threshold optional (use dispatcher->setDispatcherFlags(0) to turn off feature)

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erwin.coumans
2009-12-13 20:22:21 +00:00
parent 8444d0e5c4
commit 0a6f7b271d
4 changed files with 29 additions and 20 deletions
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16
src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
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@@ -34,9 +34,7 @@ int gNumManifold = 0;
btCollisionDispatcher::btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration):
m_count(0),
m_useIslands(true),
m_staticWarningReported(false),
m_dispatcherFlags(btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD),
m_collisionConfiguration(collisionConfiguration)
{
int i;
@@ -79,9 +77,11 @@ btPersistentManifold* btCollisionDispatcher::getNewManifold(void* b0,void* b1)
btCollisionObject* body0 = (btCollisionObject*)b0;
btCollisionObject* body1 = (btCollisionObject*)b1;
//test for Bullet 2.74: use a relative contact breaking threshold without clamping against 'gContactBreakingThreshold'
//btScalar contactBreakingThreshold = btMin(gContactBreakingThreshold,btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold()));
btScalar contactBreakingThreshold = btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold());
//optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance)
btScalar contactBreakingThreshold = (m_dispatcherFlags & btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD) ?
btMin(body0->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold) , body1->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold))
: gContactBreakingThreshold ;
btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(),body1->getContactProcessingThreshold());
@@ -169,13 +169,13 @@ bool btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionO
bool needsCollision = true;
#ifdef BT_DEBUG
if (!m_staticWarningReported)
if (!(m_dispatcherFlags & btCollisionDispatcher::CD_STATIC_STATIC_REPORTED))
{
//broadphase filtering already deals with this
if ((body0->isStaticObject() || body0->isKinematicObject()) &&
(body1->isStaticObject() || body1->isKinematicObject()))
{
m_staticWarningReported = true;
m_dispatcherFlags |= btCollisionDispatcher::CD_STATIC_STATIC_REPORTED;
printf("warning btCollisionDispatcher::needsCollision: static-static collision!\n");
}
}