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convexSweepTest: don't report hits if 'needsContactResponse' reports false.

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Should fixes Issue 197
This commit is contained in:
erwin.coumans
2011-03-31 21:20:52 +00:00
parent 0bef2e7363
commit 5cee553a96
1 changed files with 7 additions and 1 deletions
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8
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -797,6 +797,7 @@ public:
//call needsResponse, see http://code.google.com/p/bullet/issues/detail?id=179 //call needsResponse, see http://code.google.com/p/bullet/issues/detail?id=179
if (m_dispatcher->needsResponse(m_me,otherObj)) if (m_dispatcher->needsResponse(m_me,otherObj))
{ {
#if 0
///don't do CCD when there are already contact points (touching contact/penetration) ///don't do CCD when there are already contact points (touching contact/penetration)
btAlignedObjectArray<btPersistentManifold*> manifoldArray; btAlignedObjectArray<btPersistentManifold*> manifoldArray;
btBroadphasePair* collisionPair = m_pairCache->findPair(m_me->getBroadphaseHandle(),proxy0); btBroadphasePair* collisionPair = m_pairCache->findPair(m_me->getBroadphaseHandle(),proxy0);
@@ -814,8 +815,11 @@ public:
} }
} }
} }
#endif
return true;
} }
return true;
return false;
} }
@@ -859,6 +863,8 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
body->setHitFraction(sweepResults.m_closestHitFraction); body->setHitFraction(sweepResults.m_closestHitFraction);
body->predictIntegratedTransform(timeStep*body->getHitFraction(), predictedTrans); body->predictIntegratedTransform(timeStep*body->getHitFraction(), predictedTrans);
body->setHitFraction(0.f); body->setHitFraction(0.f);
body->setLinearVelocity(btVector3(0,0.1,0));
// printf("clamped integration to hit fraction = %f\n",fraction); // printf("clamped integration to hit fraction = %f\n",fraction);
} }
} }