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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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8
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
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@@ -197,14 +197,10 @@ public:
#endif
}
bool validContactDistance(const btManifoldPoint& pt) const
{
if (pt.m_lifeTime >1)
{
return pt.m_distance1 <= getContactBreakingThreshold();
}
return pt.m_distance1 <= getContactProcessingThreshold();
return pt.m_distance1 <= getContactBreakingThreshold();
}
/// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
void refreshContactPoints( const btTransform& trA,const btTransform& trB);