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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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52
src/BulletDynamics/Dynamics/btRigidBody.cpp
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@@ -317,38 +317,48 @@ void btRigidBody::setCenterOfMassTransform(const btTransform& xform)
}
bool btRigidBody::checkCollideWithOverride(const btCollisionObject* co) const
{
const btRigidBody* otherRb = btRigidBody::upcast(co);
if (!otherRb)
return true;
for (int i = 0; i < m_constraintRefs.size(); ++i)
{
const btTypedConstraint* c = m_constraintRefs[i];
if (c->isEnabled())
if (&c->getRigidBodyA() == otherRb || &c->getRigidBodyB() == otherRb)
return false;
}
return true;
}
void btRigidBody::addConstraintRef(btTypedConstraint* c)
{
int index = m_constraintRefs.findLinearSearch(c);
if (index == m_constraintRefs.size())
m_constraintRefs.push_back(c);
///disable collision with the 'other' body
m_checkCollideWith = true;
int index = m_constraintRefs.findLinearSearch(c);
//don't add constraints that are already referenced
btAssert(index == m_constraintRefs.size());
if (index == m_constraintRefs.size())
{
m_constraintRefs.push_back(c);
btCollisionObject* colObjA = &c->getRigidBodyA();
btCollisionObject* colObjB = &c->getRigidBodyB();
if (colObjA == this)
{
colObjA->setIgnoreCollisionCheck(colObjB, true);
}
else
{
colObjB->setIgnoreCollisionCheck(colObjA, true);
}
}
}
void btRigidBody::removeConstraintRef(btTypedConstraint* c)
{
int index = m_constraintRefs.findLinearSearch(c);
//don't remove constraints that are not referenced
btAssert(index < m_constraintRefs.size());
m_constraintRefs.remove(c);
m_checkCollideWith = m_constraintRefs.size() > 0;
btCollisionObject* colObjA = &c->getRigidBodyA();
btCollisionObject* colObjB = &c->getRigidBodyB();
if (colObjA == this)
{
colObjA->setIgnoreCollisionCheck(colObjB, false);
}
else
{
colObjB->setIgnoreCollisionCheck(colObjA, false);
}
}
int btRigidBody::calculateSerializeBufferSize() const