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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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8
src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
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@@ -48,8 +48,8 @@ void btSphereTriangleCollisionAlgorithm::processCollision (btCollisionObject* co
if (!m_manifoldPtr)
return;
btSphereShape* sphere = (btSphereShape*)col0->m_collisionShape;
btTriangleShape* triangle = (btTriangleShape*)col1->m_collisionShape;
btSphereShape* sphere = (btSphereShape*)col0->getCollisionShape();
btTriangleShape* triangle = (btTriangleShape*)col1->getCollisionShape();
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut->setPersistentManifold(m_manifoldPtr);
@@ -57,8 +57,8 @@ void btSphereTriangleCollisionAlgorithm::processCollision (btCollisionObject* co
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
input.m_maximumDistanceSquared = 1e30f;//todo: tighter bounds
input.m_transformA = col0->m_worldTransform;
input.m_transformB = col1->m_worldTransform;
input.m_transformA = col0->getWorldTransform();
input.m_transformB = col1->getWorldTransform();
detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);