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add btCollisionWorld::updateSingleAabb see http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=3262

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Fix memory leak, see http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=3266
Change contact breaking threshold
Add 'needsResponse' test for CcdMotionClamping, see http://code.google.com/p/bullet/issues/detail?id=179
Updated user manual (needs lots more work)
Added autoexp.dat, enabled Microsoft Visual Studio debug visualization for btAlignedObjectArray and btVector3.
This commit is contained in:
erwin.coumans
2009-02-27 02:33:48 +00:00
parent 0066e41a92
commit 3548c01985
8 changed files with 132 additions and 49 deletions
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36
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -779,14 +779,16 @@ class btClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConve
btCollisionObject* m_me;
btScalar m_allowedPenetration;
btOverlappingPairCache* m_pairCache;
btDispatcher* m_dispatcher;
public:
btClosestNotMeConvexResultCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache) :
btClosestNotMeConvexResultCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) :
btCollisionWorld::ClosestConvexResultCallback(fromA,toA),
m_allowedPenetration(0.0f),
m_me(me),
m_pairCache(pairCache)
m_pairCache(pairCache),
m_dispatcher(dispatcher)
{
}
@@ -821,20 +823,26 @@ public:
if (!ClosestConvexResultCallback::needsCollision(proxy0))
return false;
///don't do CCD when there are already contact points (touching contact/penetration)
btAlignedObjectArray<btPersistentManifold*> manifoldArray;
btBroadphasePair* collisionPair = m_pairCache->findPair(m_me->getBroadphaseHandle(),proxy0);
if (collisionPair)
btCollisionObject* otherObj = (btCollisionObject*) proxy0->m_clientObject;
//call needsResponse, see http://code.google.com/p/bullet/issues/detail?id=179
if (m_dispatcher->needsResponse(m_me,otherObj))
{
if (collisionPair->m_algorithm)
///don't do CCD when there are already contact points (touching contact/penetration)
btAlignedObjectArray<btPersistentManifold*> manifoldArray;
btBroadphasePair* collisionPair = m_pairCache->findPair(m_me->getBroadphaseHandle(),proxy0);
if (collisionPair)
{
manifoldArray.resize(0);
collisionPair->m_algorithm->getAllContactManifolds(manifoldArray);
for (int j=0;j<manifoldArray.size();j++)
if (collisionPair->m_algorithm)
{
btPersistentManifold* manifold = manifoldArray[j];
if (manifold->getNumContacts()>0)
return false;
manifoldArray.resize(0);
collisionPair->m_algorithm->getAllContactManifolds(manifoldArray);
for (int j=0;j<manifoldArray.size();j++)
{
btPersistentManifold* manifold = manifoldArray[j];
if (manifold->getNumContacts()>0)
return false;
}
}
}
}
@@ -872,7 +880,7 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
{
gNumClampedCcdMotions++;
btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache());
btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache(),getDispatcher());
btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
btSphereShape tmpSphere(body->getCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());