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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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19
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
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@@ -117,9 +117,9 @@ void btSimpleDynamicsWorld::updateAabbs()
if (body->IsActive() && (!body->isStaticObject()))
{
btPoint3 minAabb,maxAabb;
colObj->m_collisionShape->getAabb(colObj->m_worldTransform, minAabb,maxAabb);
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
btBroadphaseInterface* bp = getBroadphase();
bp->setAabb(body->m_broadphaseHandle,minAabb,maxAabb);
bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb);
}
}
}
@@ -159,7 +159,7 @@ void btSimpleDynamicsWorld::predictUnconstraintMotion(float timeStep)
{
body->applyForces( timeStep);
body->integrateVelocities( timeStep);
body->predictIntegratedTransform(timeStep,body->m_interpolationWorldTransform);
body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
}
}
}
@@ -178,9 +178,20 @@ void btSimpleDynamicsWorld::synchronizeMotionStates()
{
if (body->GetActivationState() != ISLAND_SLEEPING)
{
body->getMotionState()->setWorldTransform(body->m_worldTransform);
body->getMotionState()->setWorldTransform(body->getWorldTransform());
}
}
}
}
void btSimpleDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
{
if (m_ownsConstraintSolver)
{
delete m_constraintSolver;
}
m_ownsConstraintSolver = false;
m_constraintSolver = solver;
}