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Work on some improvements for GJK/PenetrationTestBullet.cpp. if this introduces issue, will need to revert.

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This commit is contained in:
ejcoumans
2006-11-14 21:53:59 +00:00
parent 6bc090fd28
commit b5afb11282
7 changed files with 80 additions and 22 deletions
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5
Demos/MovingConcaveDemo/ConcaveDemo.h
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@@ -17,10 +17,15 @@ subject to the following restrictions:
#include "DemoApplication.h"
class btCollisionAlgorithmCreateFunc;
///ConcaveDemo shows usage of static concave triangle meshes
///It also shows per-triangle material (friction/restitution) through CustomMaterialCombinerCallback
class ConcaveDemo : public DemoApplication
{
btCollisionAlgorithmCreateFunc* m_gimpactCollisionCreateFunc;
public:
void initPhysics();

13
Demos/MovingConcaveDemo/ConcavePhysicsDemo.cpp
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@@ -14,6 +14,7 @@ subject to the following restrictions:
*/
#include "btBulletDynamicsCommon.h"
#include "ConcaveDemo.h"
#include "LinearMath/btDefaultMotionState.h"
#include "LinearMath/btIDebugDraw.h"
@@ -27,7 +28,7 @@ subject to the following restrictions:
#include "BMF_Api.h"
#include "GLDebugDrawer.h"
#include "ConcaveDemo.h"
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
@@ -1634,11 +1635,13 @@ void ConcaveDemo::initPhysics()
btOverlappingPairCache* broadphase = new btSimpleBroadphase();
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase);
dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE,new btConcaveConcaveCollisionAlgorithm::CreateFunc);
dispatcher->registerCollisionCreateFunc(TRIANGLE_MESH_SHAPE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE,new btConcaveConcaveCollisionAlgorithm::CreateFunc);
dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,TRIANGLE_MESH_SHAPE_PROXYTYPE,new btConcaveConcaveCollisionAlgorithm::CreateFunc);
m_gimpactCollisionCreateFunc = new btConcaveConcaveCollisionAlgorithm::CreateFunc;
dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE,m_gimpactCollisionCreateFunc);
dispatcher->registerCollisionCreateFunc(TRIANGLE_MESH_SHAPE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE,m_gimpactCollisionCreateFunc);
dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,TRIANGLE_MESH_SHAPE_PROXYTYPE,m_gimpactCollisionCreateFunc);
dispatcher->registerCollisionCreateFunc(STATIC_PLANE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE,m_gimpactCollisionCreateFunc);
dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,STATIC_PLANE_PROXYTYPE,m_gimpactCollisionCreateFunc);
bool isDynamic = false;