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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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35
src/BulletCollision/CollisionDispatch/btCollisionObject.h
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@@ -110,13 +110,11 @@ protected:
/// If some object should have elaborate collision filtering by sub-classes
int m_checkCollideWith;
btAlignedObjectArray<const btCollisionObject*> m_objectsWithoutCollisionCheck;
///internal update revision number. It will be increased when the object changes. This allows some subsystems to perform lazy evaluation.
int m_updateRevision;
virtual bool checkCollideWithOverride(const btCollisionObject* /* co */) const
{
return true;
}
public:
@@ -225,7 +223,34 @@ public:
return m_collisionShape;
}
void setIgnoreCollisionCheck(const btCollisionObject* co, bool ignoreCollisionCheck)
{
if (ignoreCollisionCheck)
{
//We don't check for duplicates. Is it ok to leave that up to the user of this API?
//int index = m_objectsWithoutCollisionCheck.findLinearSearch(co);
//if (index == m_objectsWithoutCollisionCheck.size())
//{
m_objectsWithoutCollisionCheck.push_back(co);
//}
}
else
{
m_objectsWithoutCollisionCheck.remove(co);
}
m_checkCollideWith = m_objectsWithoutCollisionCheck.size() > 0;
}
virtual bool checkCollideWithOverride(const btCollisionObject* co) const
{
int index = m_objectsWithoutCollisionCheck.findLinearSearch(co);
if (index < m_objectsWithoutCollisionCheck.size())
{
return false;
}
return true;
}