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enable predictive contact constraints, see BasicDemo

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This commit is contained in:
erwin.coumans
2011-03-05 03:01:44 +00:00
parent a99d2679bd
commit 7a9c349a8c
7 changed files with 174 additions and 48 deletions
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3
src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
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@@ -77,8 +77,7 @@ public:
void setDispatcherFlags(int flags)
{
(void) flags;
m_dispatcherFlags = 0;
m_dispatcherFlags = flags;
}
///registerCollisionCreateFunc allows registration of custom/alternative collision create functions

23
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -154,6 +154,16 @@ void btCollisionWorld::updateSingleAabb(btCollisionObject* colObj)
minAabb -= contactThreshold;
maxAabb += contactThreshold;
if(getDispatchInfo().m_convexMaxDistanceUseCPT)
{
btVector3 minAabb2,maxAabb2;
colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2);
minAabb2 -= contactThreshold;
maxAabb2 += contactThreshold;
minAabb.setMin(minAabb2);
maxAabb.setMax(maxAabb2);
}
btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache;
//moving objects should be moderately sized, probably something wrong if not
@@ -1370,6 +1380,19 @@ void btCollisionWorld::debugDrawWorld()
btVector3 minAabb,maxAabb;
btVector3 colorvec(1,0,0);
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold);
minAabb -= contactThreshold;
maxAabb += contactThreshold;
btVector3 minAabb2,maxAabb2;
colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2);
minAabb2 -= contactThreshold;
maxAabb2 += contactThreshold;
minAabb.setMin(minAabb2);
maxAabb.setMax(maxAabb2);
m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec);
}
}

5
src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
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@@ -63,8 +63,9 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
{
btAssert(m_manifoldPtr);
//order in manifold needs to match
if (depth > m_manifoldPtr->getContactBreakingThreshold())
// if (depth > m_manifoldPtr->getContactBreakingThreshold())
if (depth > m_manifoldPtr->getContactProcessingThreshold())
return;
bool isSwapped = m_manifoldPtr->getBody0() != m_body0;

7
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
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@@ -199,7 +199,12 @@ public:
bool validContactDistance(const btManifoldPoint& pt) const
{
return pt.m_distance1 <= getContactBreakingThreshold();
if (pt.m_lifeTime >1)
{
return pt.m_distance1 <= getContactBreakingThreshold();
}
return pt.m_distance1 <= getContactProcessingThreshold();
}
/// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
void refreshContactPoints( const btTransform& trA,const btTransform& trB);