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Final 2.68 from Nathanael Presson, mainly soft body related. Added raycast support for soft bodies (press comma-key in the soft body demos to toggle ray cast tests)

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erwin.coumans
2008-04-14 06:24:56 +00:00
parent 912b4ccd29
commit be2490e4fb
11 changed files with 472 additions and 279 deletions
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19
src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp
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@@ -46,7 +46,6 @@ void btSoftRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
void btSoftRigidDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
{
btDiscreteDynamicsWorld::internalSingleStepSimulation( timeStep );
///solve soft bodies constraints
@@ -100,33 +99,19 @@ void btSoftRigidDynamicsWorld::debugDrawWorld()
{
btDiscreteDynamicsWorld::debugDrawWorld();
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb))
if (getDebugDrawer())
{
int i;
for ( i=0;i<this->m_softBodies.size();i++)
{
btSoftBody* psb=(btSoftBody*)this->m_softBodies[i];
btSoftBodyHelpers::DrawFrame(psb,m_debugDrawer);
btSoftBodyHelpers::Draw(psb,m_debugDrawer,fDrawFlags::Std+fDrawFlags::Nodes);
btSoftBodyHelpers::Draw(psb,m_debugDrawer,fDrawFlags::Std);
if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
{
btSoftBodyHelpers::DrawNodeTree(psb,m_debugDrawer);
//btSoftBodyHelpers::DrawFaceTree(psb,m_debugDrawer);
}
}
if (getDebugDrawer())
{
for (int i=0;i<this->m_softBodies.size();i++)
{
btSoftBody* psb=(btSoftBody*)this->m_softBodies[i];
btSoftBodyHelpers::DrawFrame(psb,m_debugDrawer);
btSoftBodyHelpers::Draw(psb,m_debugDrawer,fDrawFlags::Std);
if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
{
btSoftBodyHelpers::DrawNodeTree(psb,m_debugDrawer);
}
}
}
}
}