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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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29
src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
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@@ -164,9 +164,7 @@ struct btCompoundCompoundLeafCallback : btDbvt::ICollide
btVector3 thresholdVec(m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold);
aabbMin0 -= thresholdVec;
aabbMin1 -= thresholdVec;
aabbMax0 += thresholdVec;
aabbMax1 += thresholdVec;
if (gCompoundCompoundChildShapePairCallback)
{
@@ -183,17 +181,24 @@ struct btCompoundCompoundLeafCallback : btDbvt::ICollide
btSimplePair* pair = m_childCollisionAlgorithmCache->findPair(childIndex0,childIndex1);
btCollisionAlgorithm* colAlgo = 0;
if (m_resultOut->m_closestPointDistanceThreshold > 0)
{
colAlgo = m_dispatcher->findAlgorithm(&compoundWrap0, &compoundWrap1, 0, BT_CLOSEST_POINT_ALGORITHMS);
}
else
{
if (pair)
{
colAlgo = (btCollisionAlgorithm*)pair->m_userPointer;
if (pair)
{
colAlgo = (btCollisionAlgorithm*)pair->m_userPointer;
} else
{
colAlgo = m_dispatcher->findAlgorithm(&compoundWrap0,&compoundWrap1,m_sharedManifold);
pair = m_childCollisionAlgorithmCache->addOverlappingPair(childIndex0,childIndex1);
btAssert(pair);
pair->m_userPointer = colAlgo;
}
else
{
colAlgo = m_dispatcher->findAlgorithm(&compoundWrap0, &compoundWrap1, m_sharedManifold, BT_CONTACT_POINT_ALGORITHMS);
pair = m_childCollisionAlgorithmCache->addOverlappingPair(childIndex0, childIndex1);
btAssert(pair);
pair->m_userPointer = colAlgo;
}
}
btAssert(colAlgo);