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remove speculative contacts, they break restitution and cause other artifacts

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use btConvexPolyhedron for debug rendering, if available
fixes in btConvexConvexAlgorithm for polyhedral contact clipping, if GJK separating normal is zero
don't shift vertices in btPolyhedralConvexShape
This commit is contained in:
erwin.coumans
2011-08-30 03:28:32 +00:00
parent ad76b3222f
commit 642a6821a5
10 changed files with 127 additions and 219 deletions
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4
src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
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@@ -64,8 +64,8 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
btAssert(m_manifoldPtr);
//order in manifold needs to match
// if (depth > m_manifoldPtr->getContactBreakingThreshold())
if (depth > m_manifoldPtr->getContactProcessingThreshold())
if (depth > m_manifoldPtr->getContactBreakingThreshold())
// if (depth > m_manifoldPtr->getContactProcessingThreshold())
return;
bool isSwapped = m_manifoldPtr->getBody0() != m_body0;