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Work on fixing some GJK issues reported by Pierre Terdiman (thanks Pierre for the testbed!)

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Improved this penetration test with more verbose output
retrieve worldtransform from motionstate when rigidbody gets motionstate assigned
This commit is contained in:
ejcoumans
2006-11-11 23:59:51 +00:00
parent 82132b7b5f
commit 86c27a7c9d
10 changed files with 331 additions and 101 deletions
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4
Demos/BasicDemo/BasicDemo.cpp
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@@ -129,7 +129,9 @@ void BasicDemo::initPhysics()
m_solver = new btSequentialImpulseConstraintSolver;
m_dynamicsWorld = new btSimpleDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver);
//m_dynamicsWorld = new btSimpleDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver);
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver);
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
m_dynamicsWorld->setDebugDrawer(&debugDrawer);