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fix in btParallelConstraintSolver to support double precision

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fixes in SAT/polyhedral contact clipping, avoid adding GJK contacts (the contact margin causes different contact depths)
add polyhedral convex shape in InternalEdgeDemo as example of the new SAT/polyhedral contact clipping (added reference to Manual/what's new)
avoid glueing objecs with contacts that are positive (no gaps)
This commit is contained in:
erwin.coumans
2011-04-09 03:40:15 +00:00
parent cdddf9d25a
commit 9a9a4394ab
8 changed files with 138 additions and 60 deletions
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32
Demos/ConcaveRaycastDemo/ConcaveRaycastDemo.cpp
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@@ -275,7 +275,7 @@ void ConcaveRaycastDemo::keyboardCallback(unsigned char key, int x, int y)
void ConcaveRaycastDemo::initPhysics()
{
m_ShootBoxInitialSpeed = 1000;
#define TRISIZE 10.f
@@ -378,37 +378,7 @@ int maxNumOutstandingTasks = 4;
{
btVector3 camPos(0.000000,10.260604,-28.190779);
btVector3 destination(6958.333333,-8539.096384,7501.875480);
float mass = 1.f;
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(camPos);
setShootBoxShape ();
btRigidBody* body = this->localCreateRigidBody(mass, startTransform,m_shootBoxShape);
body->setLinearFactor(btVector3(1,1,1));
//body->setRestitution(1);
btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
linVel.normalize();
linVel*=m_ShootBoxInitialSpeed;
body->getWorldTransform().setOrigin(camPos);
body->getWorldTransform().setRotation(btQuaternion(0,0,0,1));
body->setLinearVelocity(linVel);
body->setAngularVelocity(btVector3(0,0,0));
body->setCcdMotionThreshold(0.5);
body->setCcdSweptSphereRadius(0.9f);
printf("shootBox uid=%d\n", body->getBroadphaseHandle()->getUid());
printf("camPos=%f,%f,%f\n",camPos.getX(),camPos.getY(),camPos.getZ());
printf("destination=%f,%f,%f\n",destination.getX(),destination.getY(),destination.getZ());
}
}
void ConcaveRaycastDemo::clientMoveAndDisplay()