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bugfix: for btCompoundShape::getChildTransform: return (const) reference to btTransform, not a copy.

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added btCompoundShape::updateChildTransform
Thanks to ejtttje, see http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2831
This commit is contained in:
erwin.coumans
2008-11-10 09:04:04 +00:00
parent 463a1b74c1
commit 8865e38e5b
2 changed files with 39 additions and 11 deletions
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17
src/BulletCollision/CollisionShapes/btCompoundShape.h
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@@ -46,23 +46,23 @@ SIMD_FORCE_INLINE bool operator==(const btCompoundShapeChild& c1, const btCompou
c1.m_childMargin == c2.m_childMargin );
}
/// btCompoundShape allows to store multiple other btCollisionShapes
/// The btCompoundShape allows to store multiple other btCollisionShapes
/// This allows for moving concave collision objects. This is more general then the static concave btBvhTriangleMeshShape.
/// It has an (optional) dynamic aabb tree to accelerate early rejection tests.
/// @todo: This aabb tree can also be use to speed up ray tests on btCompoundShape, see http://code.google.com/p/bullet/issues/detail?id=25
/// Currently, removal of child shapes is only supported when disabling the aabb tree (pass 'false' in the constructor of btCompoundShape)
ATTRIBUTE_ALIGNED16(class) btCompoundShape : public btCollisionShape
{
//btAlignedObjectArray<btTransform> m_childTransforms;
//btAlignedObjectArray<btCollisionShape*> m_childShapes;
btAlignedObjectArray<btCompoundShapeChild> m_children;
btVector3 m_localAabbMin;
btVector3 m_localAabbMax;
//btOptimizedBvh* m_aabbTree;
btDbvt* m_dynamicAabbTree;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btCompoundShape();
btCompoundShape(bool enableDynamicAabbTree = true);
virtual ~btCompoundShape();
@@ -88,15 +88,18 @@ public:
return m_children[index].m_childShape;
}
btTransform getChildTransform(int index)
btTransform& getChildTransform(int index)
{
return m_children[index].m_transform;
}
const btTransform getChildTransform(int index) const
const btTransform& getChildTransform(int index) const
{
return m_children[index].m_transform;
}
///set a new transform for a child, and update internal data structures (local aabb and dynamic tree)
void updateChildTransform(int childIndex, const btTransform& newChildTransform);
btCompoundShapeChild* getChildList()
{