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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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10
src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
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@@ -57,11 +57,11 @@ void btSphereBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,b
btCollisionObject* boxObj = m_isSwapped? body0 : body1;
btSphereShape* sphere0 = (btSphereShape*)sphereObj ->m_collisionShape;
btSphereShape* sphere0 = (btSphereShape*)sphereObj->getCollisionShape();
btVector3 normalOnSurfaceB;
btVector3 pOnBox,pOnSphere;
btVector3 sphereCenter = sphereObj->m_worldTransform.getOrigin();
btVector3 sphereCenter = sphereObj->getWorldTransform().getOrigin();
btScalar radius = sphere0->getRadius();
float dist = getSphereDistance(boxObj,pOnBox,pOnSphere,sphereCenter,radius);
@@ -93,14 +93,14 @@ btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* box
btScalar margins;
btVector3 bounds[2];
btBoxShape* boxShape= (btBoxShape*)boxObj->m_collisionShape;
btBoxShape* boxShape= (btBoxShape*)boxObj->getCollisionShape();
bounds[0] = -boxShape->getHalfExtents();
bounds[1] = boxShape->getHalfExtents();
margins = boxShape->getMargin();//also add sphereShape margin?
const btTransform& m44T = boxObj->m_worldTransform;
const btTransform& m44T = boxObj->getWorldTransform();
btVector3 boundsVec[2];
btScalar fPenetration;
@@ -209,7 +209,7 @@ btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btCollisionObject*
n[4].setValue( 0.0f, 1.0f, 0.0f );
n[5].setValue( 0.0f, 0.0f, 1.0f );
const btTransform& m44T = boxObj->m_worldTransform;
const btTransform& m44T = boxObj->getWorldTransform();
// convert point in local space
prel = m44T.invXform( sphereCenter);