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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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27
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -60,7 +60,7 @@ btCollisionWorld::~btCollisionWorld()
{
btCollisionObject* collisionObject= (*i);
btBroadphaseProxy* bp = collisionObject->m_broadphaseHandle;
btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle();
if (bp)
{
//
@@ -98,21 +98,22 @@ void btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,sho
m_collisionObjects.push_back(collisionObject);
//calculate new AABB
btTransform trans = collisionObject->m_worldTransform;
btTransform trans = collisionObject->getWorldTransform();
btVector3 minAabb;
btVector3 maxAabb;
collisionObject->m_collisionShape->getAabb(trans,minAabb,maxAabb);
collisionObject->getCollisionShape()->getAabb(trans,minAabb,maxAabb);
int type = collisionObject->m_collisionShape->getShapeType();
collisionObject->m_broadphaseHandle = getBroadphase()->createProxy(
int type = collisionObject->getCollisionShape()->getShapeType();
collisionObject->setBroadphaseHandle( getBroadphase()->createProxy(
minAabb,
maxAabb,
type,
collisionObject,
collisionFilterGroup,
collisionFilterMask
);
)) ;
@@ -132,8 +133,8 @@ void btCollisionWorld::performDiscreteCollisionDetection()
btVector3 aabbMin,aabbMax;
for (size_t i=0;i<m_collisionObjects.size();i++)
{
m_collisionObjects[i]->m_collisionShape->getAabb(m_collisionObjects[i]->m_worldTransform,aabbMin,aabbMax);
m_broadphasePairCache->setAabb(m_collisionObjects[i]->m_broadphaseHandle,aabbMin,aabbMax);
m_collisionObjects[i]->getCollisionShape()->getAabb(m_collisionObjects[i]->getWorldTransform(),aabbMin,aabbMax);
m_broadphasePairCache->setAabb(m_collisionObjects[i]->getBroadphaseHandle(),aabbMin,aabbMax);
}
m_broadphasePairCache->refreshOverlappingPairs();
@@ -155,7 +156,7 @@ void btCollisionWorld::removeCollisionObject(btCollisionObject* collisionObject)
{
btBroadphaseProxy* bp = collisionObject->m_broadphaseHandle;
btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle();
if (bp)
{
//
@@ -163,7 +164,7 @@ void btCollisionWorld::removeCollisionObject(btCollisionObject* collisionObject)
//
getBroadphase()->cleanProxyFromPairs(bp);
getBroadphase()->destroyProxy(bp);
collisionObject->m_broadphaseHandle = 0;
collisionObject->setBroadphaseHandle(0);
}
}
@@ -338,7 +339,7 @@ void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& r
//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
collisionObject->m_collisionShape->getAabb(collisionObject->m_worldTransform,collisionObjectAabbMin,collisionObjectAabbMax);
collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
//check aabb overlap
@@ -346,8 +347,8 @@ void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& r
{
rayTestSingle(rayFromTrans,rayToTrans,
collisionObject,
collisionObject->m_collisionShape,
collisionObject->m_worldTransform,
collisionObject->getCollisionShape(),
collisionObject->getWorldTransform(),
resultCallback);
}