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Synchronized changes of Bullet, from Blender.

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Added optional flag btSoftBody::appendAnchor(	int node,btRigidBody* body, bool disableCollisionBetweenLinkedBodies=false), to disable collision between soft body and rigid body, when pinned
Added btCollisionObject::setAnisotropicFriction, to scale friction in x,y,z direction.
Added btCollisionObject::setContactProcessingThreshold(float threshold), to avoid collision resolution of contact above a certain distance.
Avoid collisions between static objects (causes the CharacterDemo to assert, when a dynamic object hits character)
This commit is contained in:
erwin.coumans
2009-03-03 06:47:52 +00:00
parent 5be9f8f301
commit 459c22e7cb
11 changed files with 336 additions and 245 deletions
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11
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
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@@ -55,6 +55,7 @@ ATTRIBUTE_ALIGNED16( class) btPersistentManifold
int m_cachedPoints;
btScalar m_contactBreakingThreshold;
btScalar m_contactProcessingThreshold;
/// sort cached points so most isolated points come first
@@ -70,9 +71,10 @@ public:
btPersistentManifold();
btPersistentManifold(void* body0,void* body1,int , btScalar contactBreakingThreshold)
btPersistentManifold(void* body0,void* body1,int , btScalar contactBreakingThreshold,btScalar contactProcessingThreshold)
: m_body0(body0),m_body1(body1),m_cachedPoints(0),
m_contactBreakingThreshold(contactBreakingThreshold)
m_contactBreakingThreshold(contactBreakingThreshold),
m_contactProcessingThreshold(contactProcessingThreshold)
{
}
@@ -111,6 +113,11 @@ public:
///@todo: get this margin from the current physics / collision environment
btScalar getContactBreakingThreshold() const;
btScalar getContactProcessingThreshold() const
{
return m_contactProcessingThreshold;
}
int getCacheEntry(const btManifoldPoint& newPoint) const;