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add penetration depth solver for btCollisionWorld::convexSweepTest, to handle touching/penetrating contact (useful for character controller)

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erwin.coumans
2008-05-24 05:22:41 +00:00
parent f8e5481612
commit 3d32cf7ddf
4 changed files with 57 additions and 44 deletions
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5
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -18,7 +18,7 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h" //for raycasting
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" //for raycasting
#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
@@ -403,7 +403,8 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
btConvexShape* convexShape = (btConvexShape*) collisionShape;
btVoronoiSimplexSolver simplexSolver;
btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
btGjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver;
btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,&gjkEpaPenetrationSolver);
if (convexCaster.calcTimeOfImpact(convexFromTrans,convexToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
{