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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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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);
}
}