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Applied patch for character controller by bjorn.wesen. Fixes Issue 644.

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Fixed some warnings in double-precision compile
This commit is contained in:
erwin.coumans
2012-09-11 04:36:57 +00:00
parent d99d9779a2
commit 4eb5240cbe
4 changed files with 27 additions and 13 deletions
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14
src/BulletDynamics/Character/btKinematicCharacterController.cpp
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@@ -160,7 +160,21 @@ btPairCachingGhostObject* btKinematicCharacterController::getGhostObject()
bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld* collisionWorld)
{
// Here we must refresh the overlapping paircache as the penetrating movement itself or the
// previous recovery iteration might have used setWorldTransform and pushed us into an object
// that is not in the previous cache contents from the last timestep, as will happen if we
// are pushed into a new AABB overlap. Unhandled this means the next convex sweep gets stuck.
//
// Do this by calling the broadphase's setAabb with the moved AABB, this will update the broadphase
// paircache and the ghostobject's internal paircache at the same time. /BW
btVector3 minAabb, maxAabb;
m_convexShape->getAabb(m_ghostObject->getWorldTransform(), minAabb,maxAabb);
collisionWorld->getBroadphase()->setAabb(m_ghostObject->getBroadphaseHandle(),
minAabb,
maxAabb,
collisionWorld->getDispatcher());
bool penetration = false;
collisionWorld->getDispatcher()->dispatchAllCollisionPairs(m_ghostObject->getOverlappingPairCache(), collisionWorld->getDispatchInfo(), collisionWorld->getDispatcher());