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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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4
src/BulletDynamics/Dynamics/btRigidBody.h
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@@ -87,7 +87,7 @@ class btRigidBody : public btCollisionObject
//m_optionalMotionState allows to automatic synchronize the world transform for active objects
btMotionState* m_optionalMotionState;
//keep track of typed constraints referencing this rigid body
//keep track of typed constraints referencing this rigid body, to disable collision between linked bodies
btAlignedObjectArray<btTypedConstraint*> m_constraintRefs;
int m_rigidbodyFlags;
@@ -506,8 +506,6 @@ public:
return (getBroadphaseProxy() != 0);
}
virtual bool checkCollideWithOverride(const btCollisionObject* co) const;
void addConstraintRef(btTypedConstraint* c);
void removeConstraintRef(btTypedConstraint* c);