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pybullet getClosestPoints

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erwincoumans
2016-11-09 21:01:04 -08:00
parent 2bb53b311d
commit 0d47d61007
15 changed files with 1373 additions and 139 deletions
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src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -1252,6 +1252,7 @@ void btCollisionWorld::contactPairTest(btCollisionObject* colObjA, btCollisionOb
if (algorithm)
{
btBridgedManifoldResult contactPointResult(&obA,&obB, resultCallback);
contactPointResult.m_closestPointDistanceThreshold = resultCallback.m_closestDistanceThreshold;
//discrete collision detection query
algorithm->processCollision(&obA,&obB, getDispatchInfo(),&contactPointResult);