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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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27
src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
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@@ -70,7 +70,8 @@ struct btBroadphaseProxy
StaticFilter = 2,
KinematicFilter = 4,
DebrisFilter = 8,
AllFilter = DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter,
SensorTrigger = 16,
AllFilter = DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger,
};
//Usually the client btCollisionObject or Rigidbody class
@@ -118,8 +119,7 @@ class btCollisionAlgorithm;
struct btBroadphaseProxy;
//Increase SIMPLE_MAX_ALGORITHMS to allow multiple btDispatchers caching their own algorithms
#define SIMPLE_MAX_ALGORITHMS 1
/// contains a pair of aabb-overlapping objects
struct btBroadphasePair
@@ -127,22 +127,16 @@ struct btBroadphasePair
btBroadphasePair ()
:
m_pProxy0(0),
m_pProxy1(0)
m_pProxy1(0),
m_algorithm(0)
{
for (int i=0;i<SIMPLE_MAX_ALGORITHMS;i++)
{
m_algorithms[i] = 0;
}
}
btBroadphasePair(const btBroadphasePair& other)
: m_pProxy0(other.m_pProxy0),
m_pProxy1(other.m_pProxy1)
m_pProxy1(other.m_pProxy1),
m_algorithm(other.m_algorithm)
{
for (int i=0;i<SIMPLE_MAX_ALGORITHMS;i++)
{
m_algorithms[i] = other.m_algorithms[i];
}
}
btBroadphasePair(btBroadphaseProxy& proxy0,btBroadphaseProxy& proxy1)
{
@@ -159,17 +153,14 @@ struct btBroadphasePair
m_pProxy1 = &proxy0;
}
for (int i=0;i<SIMPLE_MAX_ALGORITHMS;i++)
{
m_algorithms[i] = 0;
}
m_algorithm = 0;
}
btBroadphaseProxy* m_pProxy0;
btBroadphaseProxy* m_pProxy1;
mutable btCollisionAlgorithm* m_algorithms[SIMPLE_MAX_ALGORITHMS];
mutable btCollisionAlgorithm* m_algorithm;
};