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

Cleaned up/simplified construction of a btRigidBody

Browse Source 
Fixed memoryleak in btOptimizedBvh (delete []m_contiguousNodes;)
Changed DemoApplication::localCreateRigidBody, so it adds the rigidbody to the btDynamicsWorld.
Added check for duplicate objects in world when adding.
Added assert to prevent setLinearVelocity on static rigidbodies
Added btCollisionFilterGroups to btBroadphaseProxy
removed duplicate 'btBroadphaseProxy*	m_broadphaseProxy;' in btRigidBody
This commit is contained in:
ejcoumans
2006-10-04 23:46:27 +00:00
parent d85ecfe5c2
commit 323a1046fd
18 changed files with 96 additions and 59 deletions
Download Patch File Download Diff File Expand all files Collapse all files

39
Demos/OpenGL/DemoApplication.cpp
View File

@@ -335,7 +335,7 @@ void DemoApplication::keyboardCallback(unsigned char key, int x, int y)
break;
}
if (getDynamicsWorld()->getDebugDrawer())
if (getDynamicsWorld() && getDynamicsWorld()->getDebugDrawer())
getDynamicsWorld()->getDebugDrawer()->setDebugMode(m_debugMode);
glutPostRedisplay();
@@ -393,8 +393,7 @@ void DemoApplication::shootBox(const btVector3& destination)
startTransform.setOrigin(camPos);
btCollisionShape* boxShape = new btBoxShape(btVector3(1.f,1.f,1.f));
btRigidBody* body = this->localCreateRigidBody(isDynamic, mass, startTransform,boxShape);
m_dynamicsWorld->addCollisionObject(body);
btRigidBody* body = this->localCreateRigidBody(mass, startTransform,boxShape);
btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
linVel.normalize();
@@ -606,30 +605,36 @@ void DemoApplication::mouseMotionFunc(int x,int y)
btRigidBody* DemoApplication::localCreateRigidBody(bool isDynamic, float mass, const btTransform& startTransform,btCollisionShape* shape)
btRigidBody* DemoApplication::localCreateRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape)
{
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
if (isDynamic)
shape->calculateLocalInertia(mass,localInertia);
btMassProps massProps(0.f,localInertia);
btRigidBody* body = new btRigidBody(massProps);
body->m_collisionShape = shape;
body->m_worldTransform = startTransform;
btRigidBody* body = new btRigidBody(mass,startTransform,shape,localInertia);
if (!isDynamic)
//filtering allows to excluded collision pairs, early in the collision pipeline (broadphase)
bool useFiltering = true;
if (useFiltering)
{
body->m_collisionFlags = btCollisionObject::isStatic;//??
// body->getBroadphaseProxy()->m_collisionFilterGroup = 1;/btCcdConstructionInfo::StaticFilter;
// body->getBroadphaseProxy()->m_collisionFilterMask = btCcdConstructionInfo::AllFilter ^ btCcdConstructionInfo::StaticFilter;
body->setMassProps( 0.f, localInertia);
short collisionFilterGroup = isDynamic?
btBroadphaseProxy::DefaultFilter :
btBroadphaseProxy::StaticFilter;
short collisionFilterMask = isDynamic?
btBroadphaseProxy::AllFilter :
btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter;
m_dynamicsWorld->addCollisionObject(body,collisionFilterGroup,collisionFilterMask);
} else
{
body->setMassProps( mass, localInertia);
body->m_collisionFlags = 0;
//no collision filtering, so always create an overlapping pair, even between static-static etc.
m_dynamicsWorld->addCollisionObject(body);
}
//Bullet uses per-object gravity
body->setGravity(m_gravity);
return body;