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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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42
src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
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@@ -23,9 +23,9 @@ btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlg
{
btCollisionObject* colObj = m_isSwapped? body1 : body0;
btCollisionObject* otherObj = m_isSwapped? body0 : body1;
assert (colObj->m_collisionShape->isCompound());
assert (colObj->getCollisionShape()->isCompound());
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->m_collisionShape);
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
int numChildren = compoundShape->getNumChildShapes();
int i;
@@ -33,10 +33,10 @@ btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlg
for (i=0;i<numChildren;i++)
{
btCollisionShape* childShape = compoundShape->getChildShape(i);
btCollisionShape* orgShape = colObj->m_collisionShape;
colObj->m_collisionShape = childShape;
btCollisionShape* orgShape = colObj->getCollisionShape();
colObj->setCollisionShape( childShape );
m_childCollisionAlgorithms[i] = ci.m_dispatcher->findAlgorithm(colObj,otherObj);
colObj->m_collisionShape =orgShape;
colObj->setCollisionShape( orgShape );
}
}
@@ -56,8 +56,8 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
btCollisionObject* colObj = m_isSwapped? body1 : body0;
btCollisionObject* otherObj = m_isSwapped? body0 : body1;
assert (colObj->m_collisionShape->isCompound());
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->m_collisionShape);
assert (colObj->getCollisionShape()->isCompound());
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
//We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
//If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals
@@ -74,18 +74,18 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
btCollisionShape* childShape = compoundShape->getChildShape(i);
//backup
btTransform orgTrans = colObj->m_worldTransform;
btCollisionShape* orgShape = colObj->m_collisionShape;
btTransform orgTrans = colObj->getWorldTransform();
btCollisionShape* orgShape = colObj->getCollisionShape();
btTransform childTrans = compoundShape->getChildTransform(i);
btTransform newChildWorldTrans = orgTrans*childTrans ;
colObj->m_worldTransform = newChildWorldTrans;
colObj->setWorldTransform( newChildWorldTrans );
//the contactpoint is still projected back using the original inverted worldtrans
colObj->m_collisionShape = childShape;
colObj->setCollisionShape( childShape );
m_childCollisionAlgorithms[i]->processCollision(colObj,otherObj,dispatchInfo,resultOut);
//revert back
colObj->m_collisionShape =orgShape;
colObj->m_worldTransform = orgTrans;
colObj->setCollisionShape( orgShape);
colObj->setWorldTransform( orgTrans );
}
}
@@ -95,9 +95,9 @@ float btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* bod
btCollisionObject* colObj = m_isSwapped? body1 : body0;
btCollisionObject* otherObj = m_isSwapped? body0 : body1;
assert (colObj->m_collisionShape->isCompound());
assert (colObj->getCollisionShape()->isCompound());
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->m_collisionShape);
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
//We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
//If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals
@@ -116,22 +116,22 @@ float btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* bod
btCollisionShape* childShape = compoundShape->getChildShape(i);
//backup
btTransform orgTrans = colObj->m_worldTransform;
btCollisionShape* orgShape = colObj->m_collisionShape;
btTransform orgTrans = colObj->getWorldTransform();
btCollisionShape* orgShape = colObj->getCollisionShape();
btTransform childTrans = compoundShape->getChildTransform(i);
btTransform newChildWorldTrans = orgTrans*childTrans ;
colObj->m_worldTransform = newChildWorldTrans;
colObj->setWorldTransform( newChildWorldTrans );
colObj->m_collisionShape = childShape;
colObj->setCollisionShape( childShape );
float frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj,otherObj,dispatchInfo,resultOut);
if (frac<hitFraction)
{
hitFraction = frac;
}
//revert back
colObj->m_collisionShape =orgShape;
colObj->m_worldTransform = orgTrans;
colObj->setCollisionShape( orgShape);
colObj->setWorldTransform( orgTrans);
}
return hitFraction;