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fix and re-enable sphere-box collision algorithm, Issue 643

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Thanks to Laurent for the fix and Thomas for adapting the fix to latest trunk revision!
This commit is contained in:
erwin.coumans
2012-07-31 17:17:51 +00:00
parent 7f6131f0cc
commit 37ebcc3aa6
5 changed files with 107 additions and 166 deletions
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4
src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h
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@@ -50,9 +50,9 @@ public:
}
}
btScalar getSphereDistance( const btCollisionObjectWrapper* boxObjWrap,btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius );
bool getSphereDistance( const btCollisionObjectWrapper* boxObjWrap, btVector3& v3PointOnBox, btVector3& normal, btScalar& penetrationDepth, const btVector3& v3SphereCenter, btScalar fRadius, btScalar maxContactDistance );
btScalar getSpherePenetration( const btCollisionObjectWrapper* boxObjWrap, btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax);
btScalar getSpherePenetration( btVector3 const &boxHalfExtent, btVector3 const &sphereRelPos, btVector3 &closestPoint, btVector3& normal );
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{