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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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18
src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
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@@ -33,10 +33,11 @@ m_isSwapped(isSwapped)
m_childCollisionAlgorithms.resize(numChildren);
for (i=0;i<numChildren;i++)
{
btCollisionShape* tmpShape = colObj->getCollisionShape();
btCollisionShape* childShape = compoundShape->getChildShape(i);
colObj->internalSetTemporaryCollisionShape( childShape );
m_childCollisionAlgorithms[i] = ci.m_dispatcher1->findAlgorithm(colObj,otherObj);
colObj->setCollisionShape( colObj->getRootCollisionShape());
colObj->internalSetTemporaryCollisionShape( tmpShape );
}
}
@@ -78,18 +79,17 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
btTransform orgTrans = colObj->getWorldTransform();
btTransform orgInterpolationTrans = colObj->getInterpolationWorldTransform();
btCollisionShape* orgShape = colObj->getCollisionShape();
const btTransform& childTrans = compoundShape->getChildTransform(i);
btTransform newChildWorldTrans = orgTrans*childTrans ;
colObj->setWorldTransform( newChildWorldTrans);
colObj->setInterpolationWorldTransform(newChildWorldTrans);
//the contactpoint is still projected back using the original inverted worldtrans
colObj->setCollisionShape( childShape );
btCollisionShape* tmpShape = colObj->getCollisionShape();
colObj->internalSetTemporaryCollisionShape( childShape );
m_childCollisionAlgorithms[i]->processCollision(colObj,otherObj,dispatchInfo,resultOut);
//revert back
colObj->setCollisionShape( orgShape);
colObj->internalSetTemporaryCollisionShape( tmpShape);
colObj->setWorldTransform( orgTrans );
colObj->setInterpolationWorldTransform(orgInterpolationTrans);
}
@@ -123,20 +123,20 @@ btScalar btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
//backup
btTransform orgTrans = colObj->getWorldTransform();
btCollisionShape* orgShape = colObj->getCollisionShape();
const btTransform& childTrans = compoundShape->getChildTransform(i);
//btTransform newChildWorldTrans = orgTrans*childTrans ;
colObj->setWorldTransform( orgTrans*childTrans );
colObj->setCollisionShape( childShape );
btCollisionShape* tmpShape = colObj->getCollisionShape();
colObj->internalSetTemporaryCollisionShape( childShape );
btScalar frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj,otherObj,dispatchInfo,resultOut);
if (frac<hitFraction)
{
hitFraction = frac;
}
//revert back
colObj->setCollisionShape( orgShape);
colObj->internalSetTemporaryCollisionShape( tmpShape);
colObj->setWorldTransform( orgTrans);
}
return hitFraction;