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Add btBroadphaseInterface::aabbTest. btDbvtBroadphase and btAxisSweep3 should perform well, as long as the raycast accelerator is enabled.

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This should fix the btCollisionWorld::contactTest(btCollisionObject* colObj, ContactResultCallback& resultCallback);

Thanks to Ola for the report!
This commit is contained in:
erwin.coumans
2010-02-11 18:25:50 +00:00
parent 7a175fb65e
commit bb8d1b11df
8 changed files with 115 additions and 7 deletions
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30
Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp
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@@ -83,11 +83,10 @@ void CollisionInterfaceDemo::initPhysics()
collisionWorld->setDebugDrawer(&debugDrawer);
#ifdef TEST_NOT_ADDING_OBJECTS_TO_WORLD
collisionWorld->addCollisionObject(&objects[0]);
// collisionWorld->addCollisionObject(&objects[0]);
collisionWorld->addCollisionObject(&objects[1]);
#endif //TEST_NOT_ADDING_OBJECTS_TO_WORLD
}
@@ -103,7 +102,24 @@ void CollisionInterfaceDemo::clientMoveAndDisplay()
static btVoronoiSimplexSolver sGjkSimplexSolver;
btSimplexSolverInterface& gGjkSimplexSolver = sGjkSimplexSolver;
struct btDrawingResult : public btCollisionWorld::ContactResultCallback
{
virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1)
{
glBegin(GL_LINES);
glColor3f(0, 0, 0);
btVector3 ptA = cp.getPositionWorldOnA();
btVector3 ptB = cp.getPositionWorldOnB();
glVertex3d(ptA.x(),ptA.y(),ptA.z());
glVertex3d(ptB.x(),ptB.y(),ptB.z());
glEnd();
return 0;
}
};
void CollisionInterfaceDemo::displayCallback(void) {
@@ -166,12 +182,20 @@ void CollisionInterfaceDemo::displayCallback(void) {
}
#else
glDisable(GL_TEXTURE_2D);
for (i=0;i<numObjects;i++)
{
collisionWorld->debugDrawObject(objects[i].getWorldTransform(),objects[i].getCollisionShape(), btVector3(1,1,0));
}
btDrawingResult renderCallback;
//collisionWorld->contactPairTest(&objects[0],&objects[1], renderCallback);
collisionWorld->contactTest(&objects[0],renderCallback);
#if 0
//another way is to directly query the dispatcher for both objects. The objects don't need to be inserted into the world
btCollisionAlgorithm* algo = collisionWorld->getDispatcher()->findAlgorithm(&objects[0],&objects[1]);
@@ -210,6 +234,8 @@ void CollisionInterfaceDemo::displayCallback(void) {
//you can un-comment out this line, and then all points are removed
//contactManifold->clearManifold();
}
#endif
#endif