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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
src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
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@@ -127,25 +127,19 @@ btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
{
btCollisionShape* tm = shapeCache[partId][triangleIndex];
btCollisionShape* tmpShape = ob->getCollisionShape();
//copy over user pointers to temporary shape
tm->setUserPointer(tmpShape->getUserPointer());
tm->setUserPointer(ob->getRootCollisionShape()->getUserPointer());
ob->setCollisionShape( tm );
btCollisionShape* tmpShape = ob->getCollisionShape();
ob->internalSetTemporaryCollisionShape( tm );
btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_softBody,m_triBody,0);//m_manifoldPtr);
///this should use the btDispatcher, so the actual registered algorithm is used
// btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody);
//m_resultOut->setShapeIdentifiers(-1,-1,partId,triangleIndex);
// cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex);
// cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
colAlgo->processCollision(m_softBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
colAlgo->~btCollisionAlgorithm();
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
ob->setCollisionShape( tmpShape );
ob->internalSetTemporaryCollisionShape( tmpShape);
return;
}
@@ -182,12 +176,12 @@ btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
//btTriangleShape tm(triangle[0],triangle[1],triangle[2]);
// tm.setMargin(m_collisionMarginTriangle);
btCollisionShape* tmpShape = ob->getCollisionShape();
//copy over user pointers to temporary shape
tm->setUserPointer(tmpShape->getUserPointer());
ob->setCollisionShape( tm );
//copy over user pointers to temporary shape
tm->setUserPointer(ob->getRootCollisionShape()->getUserPointer());
btCollisionShape* tmpShape = ob->getCollisionShape();
ob->internalSetTemporaryCollisionShape( tm );
btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_softBody,m_triBody,0);//m_manifoldPtr);
@@ -200,7 +194,7 @@ btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
colAlgo->processCollision(m_softBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
colAlgo->~btCollisionAlgorithm();
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
ob->setCollisionShape( tmpShape );
ob->internalSetTemporaryCollisionShape( tmpShape );
// delete tm;
shapeCache[partId][triangleIndex] = tm;