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Introduce kF_UseGjkConvexCastRaytest, and make kF_UseSubSimplexConvexCastRaytest the default for btCollisionWorld::rayTest See https://github.com/bulletphysics/bullet3/issues/34

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Add btCollisionObject::setIgnoreCollisionCheck to disable collisions between specific instances, without having a btTypedConstraint. See https://github.com/bulletphysics/bullet3/issues/165

Make btMultiBody and btMultiBodyJointMotor backwards compatible with Bullet 2.82 API (single-DOF API)
This commit is contained in:
Erwin Coumans
2014-05-01 13:51:56 -07:00
parent 907ac49892
commit 7151865c16
10 changed files with 87 additions and 49 deletions
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9
ObsoleteDemos/FeatherstoneMultiBodyDemo/FeatherstoneMultiBodyDemo.cpp
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@@ -394,23 +394,16 @@ btMultiBody* FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMult
if (1)
{
btCollisionShape* box = new btBoxShape(btVector3(halfExtents[0],halfExtents[1],halfExtents[2])*scaling);
btRigidBody* body = new btRigidBody(mass,0,box,inertia);
btMultiBodyLinkCollider* col= new btMultiBodyLinkCollider(bod,-1);
body->setCollisionShape(box);
col->setCollisionShape(box);
btTransform tr;
tr.setIdentity();
tr.setOrigin(local_origin[0]);
tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
body->setWorldTransform(tr);
col->setWorldTransform(tr);
world->addCollisionObject(col, 2,1+2);
col->setFriction(friction);
bod->setBaseCollider(col);
bod->setBaseCollider(col);
}
}