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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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61
Demos/OpenGL/DemoApplication.cpp
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@@ -24,8 +24,8 @@ subject to the following restrictions:
#include "GL_ShapeDrawer.h"
#include "LinearMath/btQuickprof.h"
#include "BMF_Api.h"
#include "BulletDynamics/Dynamics/btMassProps.h"
extern bool gDisableDeactivation;
int numObjects = 0;
const int maxNumObjects = 16384;
btTransform startTransforms[maxNumObjects];
@@ -37,7 +37,6 @@ DemoApplication::DemoApplication()
:
m_dynamicsWorld(0),
m_pickConstraint(0),
m_gravity(0,-10,0),
m_cameraDistance(15.0),
m_debugMode(0),
m_ele(0.f),
@@ -58,6 +57,7 @@ m_gravity(0,-10,0),
}
DemoApplication::~DemoApplication()
{
@@ -290,7 +290,15 @@ void DemoApplication::keyboardCallback(unsigned char key, int x, int y)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_NoDeactivation);
else
m_debugMode |= btIDebugDraw::DBG_NoDeactivation;
if (m_debugMode | btIDebugDraw::DBG_NoDeactivation)
{
gDisableDeactivation = true;
} else
{
gDisableDeactivation = false;
}
break;
@@ -346,6 +354,29 @@ void DemoApplication::specialKeyboard(int key, int x, int y)
{
switch (key)
{
case GLUT_KEY_F1:
{
break;
}
case GLUT_KEY_F2:
{
break;
}
case GLUT_KEY_END:
{
int numObj = getDynamicsWorld()->getNumCollisionObjects();
if (numObj)
{
btCollisionObject* obj = getDynamicsWorld()->getCollisionObjectArray()[numObj-1];
getDynamicsWorld()->removeCollisionObject(obj);
}
break;
}
case GLUT_KEY_LEFT : stepLeft(); break;
case GLUT_KEY_RIGHT : stepRight(); break;
case GLUT_KEY_UP : stepFront(); break;
@@ -522,7 +553,8 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject);
if (body)
{
if (!body->IsStatic())
//other exclusions?
if (!(body->isStaticObject() || body->isKinematicObject()))
{
pickedBody = body;
pickedBody->SetActivationState(DISABLE_DEACTIVATION);
@@ -616,27 +648,8 @@ btRigidBody* DemoApplication::localCreateRigidBody(float mass, const btTransform
btRigidBody* body = new btRigidBody(mass,startTransform,shape,localInertia);
//filtering allows to excluded collision pairs, early in the collision pipeline (broadphase)
bool useFiltering = true;
if (useFiltering)
{
short collisionFilterGroup = isDynamic?
btBroadphaseProxy::DefaultFilter :
btBroadphaseProxy::StaticFilter;
short collisionFilterMask = isDynamic?
btBroadphaseProxy::AllFilter :
btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter;
m_dynamicsWorld->addCollisionObject(body,collisionFilterGroup,collisionFilterMask);
} else
{
//no collision filtering, so always create an overlapping pair, even between static-static etc.
m_dynamicsWorld->addCollisionObject(body);
}
//Bullet uses per-object gravity
body->setGravity(m_gravity);
m_dynamicsWorld->addRigidBody(body);
return body;
}