Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

add support for clipFaceAgainstHull, so we can clip convex polyhedra against triangles (without connectivity information)

Browse Source 
in addition to the existing clipHullAgainstHull
Fix for debug drawing of contact points
comment-out some debug drawing code for triangle meshes
This commit is contained in:
erwin.coumans
2011-03-29 21:58:15 +00:00
parent 8847b21eb7
commit 2a856f8c32
5 changed files with 104 additions and 76 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
View File

@@ -91,7 +91,7 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
#if 0
///debug drawing of the overlapping triangles
if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() &btIDebugDraw::DBG_DrawWireframe ))
{
@@ -100,17 +100,8 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(triangle[2]),color);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(triangle[0]),color);
//btVector3 center = triangle[0] + triangle[1]+triangle[2];
//center *= btScalar(0.333333);
//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(center),color);
//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(center),color);
//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(center),color);
}
//btCollisionObject* colObj = static_cast<btCollisionObject*>(m_convexProxy->m_clientObject);
#endif
if (m_convexBody->getCollisionShape()->isConvex())
{
@@ -119,7 +110,7 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
btCollisionShape* tmpShape = ob->getCollisionShape();
ob->internalSetTemporaryCollisionShape( &tm );
btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBody,m_triBody,m_manifoldPtr);
if (m_resultOut->getBody0Internal() == m_triBody)