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added some debugging variable for CCD motion clamping

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erwin.coumans
2008-09-11 18:44:30 +00:00
parent 732745d06c
commit 569946a96f
2 changed files with 17 additions and 0 deletions
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5
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -707,6 +707,7 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands()
}
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
class btClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback
@@ -775,6 +776,9 @@ public:
};
///internal debugging variable. this value shouldn't be too high
int gNumClampedCcdMotions=0;
//#include "stdio.h"
void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
{
@@ -796,6 +800,7 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
BT_PROFILE("CCD motion clamping");
if (body->getCollisionShape()->isConvex())
{
gNumClampedCcdMotions++;
body->predictIntegratedTransform(timeStep, predictedTrans);
btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache());
btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());