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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/btSphereSphereCollisionAlgorithm.cpp
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@@ -44,10 +44,10 @@ void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0
if (!m_manifoldPtr)
return;
btSphereShape* sphere0 = (btSphereShape*)col0->m_collisionShape;
btSphereShape* sphere1 = (btSphereShape*)col1->m_collisionShape;
btSphereShape* sphere0 = (btSphereShape*)col0->getCollisionShape();
btSphereShape* sphere1 = (btSphereShape*)col1->getCollisionShape();
btVector3 diff = col0->m_worldTransform.getOrigin()- col1->m_worldTransform.getOrigin();
btVector3 diff = col0->getWorldTransform().getOrigin()- col1->getWorldTransform().getOrigin();
float len = diff.length();
btScalar radius0 = sphere0->getRadius();
btScalar radius1 = sphere1->getRadius();
@@ -61,9 +61,9 @@ void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0
btVector3 normalOnSurfaceB = diff / len;
///point on A (worldspace)
btVector3 pos0 = col0->m_worldTransform.getOrigin() - radius0 * normalOnSurfaceB;
btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB;
///point on B (worldspace)
btVector3 pos1 = col1->m_worldTransform.getOrigin() + radius1* normalOnSurfaceB;
btVector3 pos1 = col1->getWorldTransform().getOrigin() + radius1* normalOnSurfaceB;
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut->setPersistentManifold(m_manifoldPtr);