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Fix friction and restitution in BulletMultiThreaded (collision detection and parallel solver)

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Thanks to lsgmasa for reporting, see http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1758
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ejcoumans
2007-12-12 03:41:35 +00:00
parent 947dc8d33d
commit 8d10a6ba1d
4 changed files with 48 additions and 12 deletions
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6
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp
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@@ -932,7 +932,11 @@ void ProcessSpuConvexConvexCollision(SpuCollisionPairInput* wuInput, CollisionTa
#endif
btPersistentManifold* spuManifold=&lsMemPtr->gPersistentManifold;
//spuContacts.setContactInfo(spuManifold,manifoldAddress,wuInput->m_worldTransform0,wuInput->m_worldTransform1,wuInput->m_isSwapped);
spuContacts.setContactInfo(spuManifold,manifoldAddress,lsMemPtr->getColObj0()->getWorldTransform(),lsMemPtr->getColObj1()->getWorldTransform(),wuInput->m_isSwapped);
spuContacts.setContactInfo(spuManifold,manifoldAddress,lsMemPtr->getColObj0()->getWorldTransform(),
lsMemPtr->getColObj1()->getWorldTransform(),
lsMemPtr->getColObj0()->getRestitution(),lsMemPtr->getColObj1()->getRestitution(),
lsMemPtr->getColObj0()->getFriction(),lsMemPtr->getColObj1()->getFriction(),
wuInput->m_isSwapped);
SpuGjkPairDetector gjk(shape0Ptr,shape1Ptr,shapeType0,shapeType1,marginA,marginB,&vsSolver,&penetrationSolver);
gjk.getClosestPoints(cpInput,spuContacts);//,debugDraw);