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+ fixed issue related to temporary/root collision shape in btCollisionObject

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+ normalize plane normal input for btStaticPlaneShape
+ fixed issue related to swapped collision detectors (SphereTriangleDetector in particular)
Thanks a lot to Andrey Tuganov for reporting the issue and his reproduction case ( http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2143 )
This commit is contained in:
erwin.coumans
2008-07-11 05:39:31 +00:00
parent dcf9f8d857
commit 8f3e9603f3
23 changed files with 355 additions and 203 deletions
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28
Extras/GIMPACT/src/Bullet/btGImpactCollisionAlgorithm.cpp
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@@ -226,11 +226,11 @@ void btGImpactCollisionAlgorithm::shape_vs_shape_collision(
btCollisionShape * shape1)
{
btCollisionShape * orgshape0 = body0->getCollisionShape();
btCollisionShape * orgshape1 = body1->getCollisionShape();
body0->setCollisionShape(shape0);
body1->setCollisionShape(shape1);
btCollisionShape* tmpShape0 = body0->getCollisionShape();
btCollisionShape* tmpShape1 = body1->getCollisionShape();
body0->internalSetTemporaryCollisionShape(shape0);
body1->internalSetTemporaryCollisionShape(shape1);
{
btCollisionAlgorithm* algor = newAlgorithm(body0,body1);
@@ -244,8 +244,8 @@ void btGImpactCollisionAlgorithm::shape_vs_shape_collision(
m_dispatcher->freeCollisionAlgorithm(algor);
}
body0->setCollisionShape(orgshape0);
body1->setCollisionShape(orgshape1);
body0->internalSetTemporaryCollisionShape(tmpShape0);
body1->internalSetTemporaryCollisionShape(tmpShape1);
}
void btGImpactCollisionAlgorithm::convex_vs_convex_collision(
@@ -255,11 +255,11 @@ void btGImpactCollisionAlgorithm::convex_vs_convex_collision(
btCollisionShape * shape1)
{
btCollisionShape * orgshape0 = body0->getCollisionShape();
btCollisionShape * orgshape1 = body1->getCollisionShape();
body0->setCollisionShape(shape0);
body1->setCollisionShape(shape1);
btCollisionShape* tmpShape0 = body0->getCollisionShape();
btCollisionShape* tmpShape1 = body1->getCollisionShape();
body0->internalSetTemporaryCollisionShape(shape0);
body1->internalSetTemporaryCollisionShape(shape1);
m_resultOut->setShapeIdentifiers(m_part0,m_triface0,m_part1,m_triface1);
@@ -267,8 +267,8 @@ void btGImpactCollisionAlgorithm::convex_vs_convex_collision(
checkConvexAlgorithm(body0,body1);
m_convex_algorithm->processCollision(body0,body1,*m_dispatchInfo,m_resultOut);
body0->setCollisionShape(orgshape0);
body1->setCollisionShape(orgshape1);
body0->internalSetTemporaryCollisionShape(tmpShape0);
body1->internalSetTemporaryCollisionShape(tmpShape1);
}