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another large series of changes, related to the refactoring.

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CompoundShapes are tricky to manage with respect to persistent contact points and swapped order of btCollisionObjects,
During dispatch, finding an algorith etc. order can be swapped.
fixed several other issues, related to SimpleBroadphase (removing a proxy was not working)
This commit is contained in:
ejcoumans
2006-10-06 05:22:13 +00:00
parent 97b287a6bc
commit bf847b839a
54 changed files with 1852 additions and 1946 deletions
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21
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -14,7 +14,8 @@ subject to the following restrictions:
*/
//#define USER_DEFINED_FRICTION_MODEL 1
//#define PRINT_CONTACT_STATISTICS 1
#define PRINT_CONTACT_STATISTICS 1
//#define USE_KINEMATIC_GROUND 1
#define REGISTER_CUSTOM_COLLISION_ALGORITHM 1
#include "btBulletDynamicsCommon.h"
@@ -121,6 +122,14 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
#ifdef USE_KINEMATIC_GROUND
//btQuaternion kinRotation(btVector3(0,0,1),0.);
btVector3 kinTranslation(0,0,0.01);
//kinematic object
m_dynamicsWorld->getCollisionObjectArray()[0]->m_worldTransform.getOrigin() += kinTranslation;
#endif //USE_KINEMATIC_GROUND
if (m_dynamicsWorld)
m_dynamicsWorld->stepSimulation(deltaTime);
@@ -243,7 +252,7 @@ void CcdPhysicsDemo::initPhysics()
btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver);
//setGravity(btVector3(0,0,1));
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
@@ -328,6 +337,14 @@ void CcdPhysicsDemo::initPhysics()
mass = 0.f;
btRigidBody* body = localCreateRigidBody(mass,trans,shape);
#ifdef USE_KINEMATIC_GROUND
if (mass == 0.f)
{
body->m_collisionFlags = btCollisionObject::CF_KINEMATIC_OJBECT;
body->SetActivationState(DISABLE_DEACTIVATION);
body->setLinearVelocity(btVector3(0,0,1));
}
#endif //USE_KINEMATIC_GROUND
// Only do CCD if motion in one timestep (1.f/60.f) exceeds CUBE_HALF_EXTENTS