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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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13
src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
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@@ -26,7 +26,7 @@ m_triangle(triangle)
}
void SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw)
void SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults)
{
(void)debugDraw;
@@ -42,7 +42,16 @@ void SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Res
if (collide(sphereInTr.getOrigin(),point,normal,depth,timeOfImpact))
{
output.addContactPoint(transformB.getBasis()*normal,transformB*point,depth);
if (swapResults)
{
btVector3 normalOnB = transformB.getBasis()*normal;
btVector3 normalOnA = -normalOnB;
btVector3 pointOnA = transformB*point+normalOnB*depth;
output.addContactPoint(normalOnA,pointOnA,depth);
} else
{
output.addContactPoint(transformB.getBasis()*normal,transformB*point,depth);
}
}
}