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pass collision shapes as const. fixed some issues with continuous convex cast (resulting hitnormal was not initialized properly, results not proper)

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This commit is contained in:
ejcoumans
2007-07-11 02:16:39 +00:00
parent 8c01430151
commit 7cd651c266
14 changed files with 42 additions and 29 deletions
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24
src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
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@@ -26,7 +26,7 @@ subject to the following restrictions:
btContinuousConvexCollision::btContinuousConvexCollision ( btConvexShape* convexA,btConvexShape* convexB,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver)
btContinuousConvexCollision::btContinuousConvexCollision ( const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver)
:m_simplexSolver(simplexSolver),
m_penetrationDepthSolver(penetrationDepthSolver),
m_convexA(convexA),m_convexB(convexB)
@@ -93,7 +93,7 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
btGjkPairDetector::ClosestPointInput input;
//we don't use margins during CCD
gjk.setIgnoreMargin(true);
// gjk.setIgnoreMargin(true);
input.m_transformA = fromA;
input.m_transformB = fromB;
@@ -108,22 +108,26 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
btScalar dist;
dist = pointCollector1.m_distance;
n = pointCollector1.m_normalOnBInWorld;
//not close enough
while (dist > radius)
{
numIter++;
if (numIter > maxIter)
{
return false; //todo: report a failure
}
btScalar dLambda = btScalar(0.);
btScalar projectedLinearVelocity = (linVelB-linVelA).dot(n);
//calculate safe moving fraction from distance / (linear+rotational velocity)
//btScalar clippedDist = GEN_min(angularConservativeRadius,dist);
//btScalar clippedDist = dist;
btScalar projectedLinearVelocity = (linVelB-linVelA).dot(n);
dLambda = dist / (projectedLinearVelocity+ maxAngularProjectedVelocity);
@@ -135,9 +139,14 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
if (lambda < btScalar(0.))
return false;
//todo: next check with relative epsilon
if (lambda <= lastLambda)
{
return false;
//n.setValue(0,0,0);
break;
}
lastLambda = lambda;
@@ -163,11 +172,12 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
{
//degenerate ?!
result.m_fraction = lastLambda;
result.m_normal = n;
n = pointCollector.m_normalOnBInWorld;
result.m_normal=n;//.setValue(1,1,1);// = n;
return true;
}
c = pointCollector.m_pointInWorld;
n = pointCollector.m_normalOnBInWorld;
dist = pointCollector.m_distance;
} else
{