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fixed and re-enabled sphere-sphere collision: contact points were not properly removed/refreshed.

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This commit is contained in:
erwin.coumans
2008-09-20 22:33:36 +00:00
parent 90cb458129
commit 58f2747acf
2 changed files with 11 additions and 5 deletions
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5
src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
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@@ -216,12 +216,11 @@ btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlg
#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1==SPHERE_SHAPE_PROXYTYPE)) if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1==SPHERE_SHAPE_PROXYTYPE))
{ {
//return m_sphereSphereCF; return m_sphereSphereCF;
} }
#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1==BOX_SHAPE_PROXYTYPE)) if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1==BOX_SHAPE_PROXYTYPE))
{ {
return m_sphereBoxCF; return m_sphereBoxCF;

11
src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
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@@ -56,11 +56,16 @@ void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0
btScalar radius0 = sphere0->getRadius(); btScalar radius0 = sphere0->getRadius();
btScalar radius1 = sphere1->getRadius(); btScalar radius1 = sphere1->getRadius();
//m_manifoldPtr->clearManifold(); //don't do this, it disables warmstarting #ifdef CLEAR_MANIFOLD
m_manifoldPtr->clearManifold(); //don't do this, it disables warmstarting
#endif
///iff distance positive, don't generate a new contact ///iff distance positive, don't generate a new contact
if ( len > (radius0+radius1)) if ( len > (radius0+radius1))
{ {
#ifndef CLEAR_MANIFOLD
resultOut->refreshContactPoints();
#endif //CLEAR_MANIFOLD
return; return;
} }
///distance (negative means penetration) ///distance (negative means penetration)
@@ -82,7 +87,9 @@ void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0
resultOut->addContactPoint(normalOnSurfaceB,pos1,dist); resultOut->addContactPoint(normalOnSurfaceB,pos1,dist);
//no resultOut->refreshContactPoints(); needed, because of clearManifold (all points are new) #ifndef CLEAR_MANIFOLD
resultOut->refreshContactPoints();
#endif //CLEAR_MANIFOLD
} }