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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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49
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
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@@ -157,8 +157,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
checkPenetrationDepthSolver();
btConvexShape* min0 = static_cast<btConvexShape*>(body0->m_collisionShape);
btConvexShape* min1 = static_cast<btConvexShape*>(body1->m_collisionShape);
btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
btGjkPairDetector::ClosestPointInput input;
@@ -170,8 +170,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
// input.m_maximumDistanceSquared = 1e30f;
input.m_transformA = body0->m_worldTransform;
input.m_transformB = body1->m_worldTransform;
input.m_transformA = body0->getWorldTransform();
input.m_transformB = body1->getWorldTransform();
resultOut->setPersistentManifold(m_manifoldPtr);
m_gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
@@ -190,14 +190,13 @@ float btConvexConvexAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btC
float resultFraction = 1.f;
float squareMot0 = (col0->m_interpolationWorldTransform.getOrigin() - col0->m_worldTransform.getOrigin()).length2();
float squareMot0 = (col0->getInterpolationWorldTransform().getOrigin() - col0->getWorldTransform().getOrigin()).length2();
float squareMot1 = (col1->getInterpolationWorldTransform().getOrigin() - col1->getWorldTransform().getOrigin()).length2();
if (squareMot0 < col0->m_ccdSquareMotionThreshold &&
squareMot0 < col0->m_ccdSquareMotionThreshold)
if (squareMot0 < col0->getCcdSquareMotionThreshold() &&
squareMot1 < col1->getCcdSquareMotionThreshold())
return resultFraction;
if (disableCcd)
return 1.f;
@@ -212,26 +211,26 @@ float btConvexConvexAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btC
/// Convex0 against sphere for Convex1
{
btConvexShape* convex0 = static_cast<btConvexShape*>(col0->m_collisionShape);
btConvexShape* convex0 = static_cast<btConvexShape*>(col0->getCollisionShape());
btSphereShape sphere1(col1->m_ccdSweptSphereRadius); //todo: allow non-zero sphere sizes, for better approximation
btSphereShape sphere1(col1->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
btConvexCast::CastResult result;
btVoronoiSimplexSolver voronoiSimplex;
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
///Simplification, one object is simplified as a sphere
btGjkConvexCast ccd1( convex0 ,&sphere1,&voronoiSimplex);
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
if (ccd1.calcTimeOfImpact(col0->m_worldTransform,col0->m_interpolationWorldTransform,
col1->m_worldTransform,col1->m_interpolationWorldTransform,result))
if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
{
//store result.m_fraction in both bodies
if (col0->m_hitFraction > result.m_fraction)
col0->m_hitFraction = result.m_fraction;
if (col0->getHitFraction()> result.m_fraction)
col0->setHitFraction( result.m_fraction );
if (col1->m_hitFraction > result.m_fraction)
col1->m_hitFraction = result.m_fraction;
if (col1->getHitFraction() > result.m_fraction)
col1->setHitFraction( result.m_fraction);
if (resultFraction > result.m_fraction)
resultFraction = result.m_fraction;
@@ -245,26 +244,26 @@ float btConvexConvexAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btC
/// Sphere (for convex0) against Convex1
{
btConvexShape* convex1 = static_cast<btConvexShape*>(col1->m_collisionShape);
btConvexShape* convex1 = static_cast<btConvexShape*>(col1->getCollisionShape());
btSphereShape sphere0(col0->m_ccdSweptSphereRadius); //todo: allow non-zero sphere sizes, for better approximation
btSphereShape sphere0(col0->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
btConvexCast::CastResult result;
btVoronoiSimplexSolver voronoiSimplex;
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
///Simplification, one object is simplified as a sphere
btGjkConvexCast ccd1(&sphere0,convex1,&voronoiSimplex);
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
if (ccd1.calcTimeOfImpact(col0->m_worldTransform,col0->m_interpolationWorldTransform,
col1->m_worldTransform,col1->m_interpolationWorldTransform,result))
if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
{
//store result.m_fraction in both bodies
if (col0->m_hitFraction > result.m_fraction)
col0->m_hitFraction = result.m_fraction;
if (col0->getHitFraction() > result.m_fraction)
col0->setHitFraction( result.m_fraction);
if (col1->m_hitFraction > result.m_fraction)
col1->m_hitFraction = result.m_fraction;
if (col1->getHitFraction() > result.m_fraction)
col1->setHitFraction( result.m_fraction);
if (resultFraction > result.m_fraction)
resultFraction = result.m_fraction;