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regular OR wireframe rendering, not both

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add option to perform filtering of 'getClosestPoints' using linkA/linkB.
don't use 'realtimesimulation' as default
add/remove debug items within same thread
pybullet, report contact points and normal as [x,y,z] triplet/vector, not 3 scalars
separate 'getClosestPointsAlgorithm': box-box doesn't report closest points with positive distance, and the query shouldn't impact regular 'closesst points'
This commit is contained in:
erwincoumans
2016-11-19 17:13:56 -08:00
parent 936a104fb2
commit 9ee1c4ec24
19 changed files with 417 additions and 222 deletions
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4
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -1231,7 +1231,7 @@ struct btSingleContactCallback : public btBroadphaseAabbCallback
btCollisionObjectWrapper ob0(0,m_collisionObject->getCollisionShape(),m_collisionObject,m_collisionObject->getWorldTransform(),-1,-1);
btCollisionObjectWrapper ob1(0,collisionObject->getCollisionShape(),collisionObject,collisionObject->getWorldTransform(),-1,-1);
btCollisionAlgorithm* algorithm = m_world->getDispatcher()->findAlgorithm(&ob0,&ob1);
btCollisionAlgorithm* algorithm = m_world->getDispatcher()->findAlgorithm(&ob0,&ob1,0, BT_CLOSEST_POINT_ALGORITHMS);
if (algorithm)
{
btBridgedManifoldResult contactPointResult(&ob0,&ob1, m_resultCallback);
@@ -1267,7 +1267,7 @@ void btCollisionWorld::contactPairTest(btCollisionObject* colObjA, btCollisionOb
btCollisionObjectWrapper obA(0,colObjA->getCollisionShape(),colObjA,colObjA->getWorldTransform(),-1,-1);
btCollisionObjectWrapper obB(0,colObjB->getCollisionShape(),colObjB,colObjB->getWorldTransform(),-1,-1);
btCollisionAlgorithm* algorithm = getDispatcher()->findAlgorithm(&obA,&obB);
btCollisionAlgorithm* algorithm = getDispatcher()->findAlgorithm(&obA,&obB, 0, BT_CLOSEST_POINT_ALGORITHMS);
if (algorithm)
{
btBridgedManifoldResult contactPointResult(&obA,&obB, resultCallback);