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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
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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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src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
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@@ -62,8 +62,6 @@ protected:
virtual void integrateTransforms(btScalar timeStep);
virtual void addSpeculativeContacts(btScalar timeStep);
virtual void calculateSimulationIslands();
virtual void solveConstraints(btContactSolverInfo& solverInfo);