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One of the last parts of the refactoring (hopefully), made most members of btCollisionObject protected.

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Also did some work on improving the constraint solver.
This commit is contained in:
ejcoumans
2006-11-02 03:42:53 +00:00
parent 82ba30caa6
commit 4050da0e2f
34 changed files with 485 additions and 265 deletions
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22
Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp
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@@ -65,8 +65,8 @@ void CollisionInterfaceDemo::initPhysics()
btMatrix3x3 basisB;
basisB.setIdentity();
objects[0].m_worldTransform.setBasis(basisA);
objects[1].m_worldTransform.setBasis(basisB);
objects[0].getWorldTransform().setBasis(basisA);
objects[1].getWorldTransform().setBasis(basisB);
//btPoint3 points0[3]={btPoint3(1,0,0),btPoint3(0,1,0),btPoint3(0,0,1)};
//btPoint3 points1[5]={btPoint3(1,0,0),btPoint3(0,1,0),btPoint3(0,0,1),btPoint3(0,0,-1),btPoint3(-1,-1,0)};
@@ -78,8 +78,8 @@ void CollisionInterfaceDemo::initPhysics()
//ConvexHullShape hullB(points1,4);
//hullB.setLocalScaling(btVector3(4,4,4));
objects[0].m_collisionShape = boxA;//&hullA;
objects[1].m_collisionShape = boxB;//&hullB;
objects[0].setCollisionShape(boxA);//&hullA;
objects[1].setCollisionShape(boxB);//&hullB;
btCollisionDispatcher* dispatcher = new btCollisionDispatcher;
btVector3 worldAabbMin(-1000,-1000,-1000);
@@ -130,7 +130,7 @@ void CollisionInterfaceDemo::displayCallback(void) {
btPersistentManifold* contactManifold = collisionWorld->getDispatcher()->getManifoldByIndexInternal(i);
btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
contactManifold->refreshContactPoints(obA->m_worldTransform,obB->m_worldTransform);
contactManifold->refreshContactPoints(obA->getWorldTransform(),obB->getWorldTransform());
int numContacts = contactManifold->getNumContacts();
for (int j=0;j<numContacts;j++)
@@ -161,17 +161,17 @@ void CollisionInterfaceDemo::displayCallback(void) {
for (i=0;i<numObjects;i++)
{
objects[i].m_worldTransform.getOpenGLMatrix( m );
GL_ShapeDrawer::drawOpenGL(m,objects[i].m_collisionShape,btVector3(1,1,1),getDebugMode());
objects[i].getWorldTransform().getOpenGLMatrix( m );
GL_ShapeDrawer::drawOpenGL(m,objects[i].getCollisionShape(),btVector3(1,1,1),getDebugMode());
}
btQuaternion orn;
orn.setEuler(yaw,pitch,roll);
objects[1].m_worldTransform.setOrigin(objects[1].m_worldTransform.getOrigin()+btVector3(0,-0.01,0));
objects[1].getWorldTransform().setOrigin(objects[1].getWorldTransform().getOrigin()+btVector3(0,-0.01,0));
objects[0].m_worldTransform.setRotation(orn);
objects[0].getWorldTransform().setRotation(orn);
pitch += 0.005f;
yaw += 0.01f;
@@ -182,8 +182,8 @@ void CollisionInterfaceDemo::displayCallback(void) {
void CollisionInterfaceDemo::clientResetScene()
{
objects[0].m_worldTransform.setOrigin(btVector3(0.0f,3.f,0.f));
objects[1].m_worldTransform.setOrigin(btVector3(0.0f,9.f,0.f));
objects[0].getWorldTransform().setOrigin(btVector3(0.0f,3.f,0.f));
objects[1].getWorldTransform().setOrigin(btVector3(0.0f,9.f,0.f));
}