Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

more compounds work, the basics work. now some stackless tree-tree traversal is needed to speedup compound versus compound.

Browse Source
This commit is contained in:
ejcoumans
2006-07-24 23:06:59 +00:00
parent fdaa3a7abc
commit 50a2694c5b
12 changed files with 92 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
Bullet/CollisionDispatch/ManifoldResult.cpp
View File

@@ -31,8 +31,12 @@ void ManifoldResult::AddContactPoint(const SimdVector3& normalOnBInWorld,const S
if (depth > m_manifoldPtr->GetContactBreakingTreshold())
return;
SimdTransform transAInv = m_body0->m_worldTransform.inverse();
SimdTransform transBInv= m_body1->m_worldTransform.inverse();
SimdTransform transAInv = m_body0->m_cachedInvertedWorldTransform;
SimdTransform transBInv= m_body1->m_cachedInvertedWorldTransform;
//transAInv = m_body0->m_worldTransform.inverse();
//transBInv= m_body1->m_worldTransform.inverse();
SimdVector3 pointA = pointInWorld + normalOnBInWorld * depth;
SimdVector3 localA = transAInv(pointA );
SimdVector3 localB = transBInv(pointInWorld);