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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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2
src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
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@@ -58,7 +58,7 @@ struct btDiscreteCollisionDetectorInterface
// give either closest points (distance > 0) or penetration (distance)
// the normal always points from B towards A
//
virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw) = 0;
virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false) = 0;
};

2
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
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@@ -47,7 +47,7 @@ m_catchDegeneracies(1)
{
}
void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw)
void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults)
{
btScalar distance=btScalar(0.);
btVector3 normalInB(btScalar(0.),btScalar(0.),btScalar(0.));

2
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
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@@ -52,7 +52,7 @@ public:
btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver);
virtual ~btGjkPairDetector() {};
virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw);
virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false);
void setMinkowskiA(btConvexShape* minkA)
{