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Applied filtering flags for CCD Motion Clamping, thanks to Bbilz, see http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2736

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erwin.coumans
2008-10-16 20:17:56 +00:00
parent 945b299e56
commit 6fcd824524
1 changed files with 9 additions and 1 deletions
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10
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -731,7 +731,11 @@ public:
virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult,bool normalInWorldSpace) virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult,bool normalInWorldSpace)
{ {
if (convexResult.m_hitCollisionObject == m_me) if (convexResult.m_hitCollisionObject == m_me)
return 1.0; return 1.0f;
//ignore result if there is no contact response
if(!convexResult.m_hitCollisionObject->hasContactResponse())
return 1.0f;
btVector3 linVelA,linVelB; btVector3 linVelA,linVelB;
linVelA = m_convexToWorld-m_convexFromWorld; linVelA = m_convexToWorld-m_convexFromWorld;
@@ -809,6 +813,10 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache()); btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache());
btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape()); btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
btSphereShape tmpSphere(body->getCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape()); btSphereShape tmpSphere(body->getCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
sweepResults.m_collisionFilterGroup = body->getBroadphaseProxy()->m_collisionFilterGroup;
sweepResults.m_collisionFilterMask = body->getBroadphaseProxy()->m_collisionFilterMask;
convexSweepTest(&tmpSphere,body->getWorldTransform(),predictedTrans,sweepResults); convexSweepTest(&tmpSphere,body->getWorldTransform(),predictedTrans,sweepResults);
if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f)) if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f))
{ {