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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/NarrowPhaseCollision/btRaycastCallback.cpp
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@@ -20,6 +20,7 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "btRaycastCallback.h"
btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const btVector3& to)
@@ -122,7 +123,7 @@ btTriangleConvexcastCallback::processTriangle (btVector3* triangle, int partId,
triangleShape.setMargin(m_triangleCollisionMargin);
btVoronoiSimplexSolver simplexSolver;
btGjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver;
//#define USE_SUBSIMPLEX_CONVEX_CAST 1
//if you reenable USE_SUBSIMPLEX_CONVEX_CAST see commented out code below
@@ -130,7 +131,7 @@ btTriangleConvexcastCallback::processTriangle (btVector3* triangle, int partId,
btSubsimplexConvexCast convexCaster(m_convexShape, &triangleShape, &simplexSolver);
#else
//btGjkConvexCast convexCaster(m_convexShape,&triangleShape,&simplexSolver);
btContinuousConvexCollision convexCaster(m_convexShape,&triangleShape,&simplexSolver,NULL);
btContinuousConvexCollision convexCaster(m_convexShape,&triangleShape,&simplexSolver,&gjkEpaPenetrationSolver);
#endif //#USE_SUBSIMPLEX_CONVEX_CAST
btConvexCast::CastResult castResult;