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contact normal should point from B to A (to be consistent with Bullet 2.x)

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stringify: pre-allocate bigger buffer (10MB, workaround)
This commit is contained in:
erwincoumans
2013-08-10 12:08:15 -07:00
parent d158507c03
commit ac23dbc4be
17 changed files with 220 additions and 209 deletions
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4
src/Bullet3Collision/NarrowPhaseCollision/b3Contact4.h
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@@ -36,9 +36,9 @@ B3_ATTRIBUTE_ALIGNED16(struct) b3Contact4 : public b3Contact4Data
void setFrictionCoeff( float c ) { b3Assert( c >= 0.f && c <= 1.f ); m_frictionCoeffCmp = (unsigned short)(c*0xffff); }
//float& getNPoints() { return m_worldNormal[3]; }
int getNPoints() const { return (int) m_worldNormal[3]; }
int getNPoints() const { return (int) m_worldNormalOnB[3]; }
float getPenetration(int idx) const { return m_worldPos[idx][3]; }
float getPenetration(int idx) const { return m_worldPosB[idx][3]; }
bool isInvalid() const { return (getBodyA()==0 || getBodyB()==0); }
};

11
src/Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h
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@@ -7,9 +7,10 @@ typedef struct b3Contact4Data b3Contact4Data_t;
struct b3Contact4Data
{
b3Float4 m_worldPos[4];
b3Float4 m_worldPosB[4];
// b3Float4 m_localPosA[4];
// b3Float4 m_localPosB[4];
b3Float4 m_worldNormal; // w: m_nPoints
b3Float4 m_worldNormalOnB; // w: m_nPoints
unsigned short m_restituitionCoeffCmp;
unsigned short m_frictionCoeffCmp;
int m_batchIdx;
@@ -21,17 +22,17 @@ struct b3Contact4Data
int m_unused1;
int m_unused2;
// b3Float4 m_localPosA;
};
inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)
{
return (int)contact->m_worldNormal.w;
return (int)contact->m_worldNormalOnB.w;
};
inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)
{
contact->m_worldNormal.w = (float)numPoints;
contact->m_worldNormalOnB.w = (float)numPoints;
};