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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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2
src/BulletSoftBody/btSoftBodyHelpers.cpp
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@@ -329,7 +329,7 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
{
const btScalar scl=(btScalar)0.8;
const btScalar alp=(btScalar)1;
const btVector3 col((btScalar)0.7,(btScalar)0.7,(btScalar)0.7);
const btVector3 col((btScalar)0.3,(btScalar)0.3,(btScalar)0.7);
for(int i=0;i<psb->m_tetras.size();++i)
{
const btSoftBody::Tetra& t=psb->m_tetras[i];