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Added btNearCallback. This is similar to Open Dynamics Engine (ODE) dNearCallback, but important differences:

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- contact points are persistent (lifetime more then one frame, for warmstarting/incremental contact point management)
- continuous collision detection, time of impact
Added btRigidBody::isInWorld(), returns true if btRigidBody is inside a btCollisionWorld/btDynamicsWorld derived class
Added angularFactor to btRigidbody, this helps some character control (no angular impulse applied)
This commit is contained in:
ejcoumans
2006-12-04 15:42:03 +00:00
parent 2f557b2a4d
commit b6d1b4c94e
8 changed files with 142 additions and 90 deletions
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42
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -16,6 +16,7 @@ subject to the following restrictions:
//#define PRINT_CONTACT_STATISTICS 1
//#define REGISTER_CUSTOM_COLLISION_ALGORITHM 1
//#define USER_DEFINED_FRICTION_MODEL 1
#define USE_CUSTOM_NEAR_CALLBACK 1
//following define allows to compare/replace Bullet's constraint solver with ODE quickstep
//this define requires to either add the libquickstep library (win32, see msvc/8/libquickstep.vcproj) or manually add the files from Extras/quickstep
@@ -110,6 +111,42 @@ btCollisionShape* shapePtr[numShapes] =
//by default, Bullet will use its own nearcallback, but you can override it using dispatcher->setNearCallback()
void customNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, btDispatcherInfo& dispatchInfo)
{
btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
if (dispatcher.needsCollision(colObj0,colObj1))
{
//dispatcher will keep algorithms persistent in the collision pair
if (!collisionPair.m_algorithm)
{
collisionPair.m_algorithm = dispatcher.findAlgorithm(colObj0,colObj1);
}
if (collisionPair.m_algorithm)
{
btManifoldResult contactPointResult(colObj0,colObj1);
if (dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE)
{
//discrete collision detection query
collisionPair.m_algorithm->processCollision(colObj0,colObj1,dispatchInfo,&contactPointResult);
} else
{
//continuous collision detection query, time of impact (toi)
float toi = collisionPair.m_algorithm->calculateTimeOfImpact(colObj0,colObj1,dispatchInfo,&contactPointResult);
if (dispatchInfo.m_timeOfImpact > toi)
dispatchInfo.m_timeOfImpact = toi;
}
}
}
}
@@ -254,6 +291,11 @@ void CcdPhysicsDemo::initPhysics()
btCollisionDispatcher* dispatcher = new btCollisionDispatcher();
#ifdef USE_CUSTOM_NEAR_CALLBACK
//this is optional
dispatcher->setNearCallback(customNearCallback);
#endif
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);