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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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15
src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
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@@ -118,8 +118,16 @@ partId, int triangleIndex)
btCollisionObjectWrapper triObWrap(m_triBodyWrap,&tm,m_triBodyWrap->getCollisionObject(),m_triBodyWrap->getWorldTransform(),partId,triangleIndex);//correct transform?
btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBodyWrap,&triObWrap,m_manifoldPtr);
btCollisionAlgorithm* colAlgo = 0;
if (m_resultOut->m_closestPointDistanceThreshold > 0)
{
colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBodyWrap, &triObWrap, 0, BT_CLOSEST_POINT_ALGORITHMS);
}
else
{
colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBodyWrap, &triObWrap, m_manifoldPtr, BT_CONTACT_POINT_ALGORITHMS);
}
const btCollisionObjectWrapper* tmpWrap = 0;
if (m_resultOut->getBody0Internal() == m_triBodyWrap->getCollisionObject())
@@ -170,7 +178,8 @@ void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTr
const btCollisionShape* convexShape = static_cast<const btCollisionShape*>(m_convexBodyWrap->getCollisionShape());
//CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape);
convexShape->getAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax);
btScalar extraMargin = collisionMarginTriangle;
btScalar extraMargin = collisionMarginTriangle+ resultOut->m_closestPointDistanceThreshold;
btVector3 extra(extraMargin,extraMargin,extraMargin);
m_aabbMax += extra;