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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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24
src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
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@@ -30,40 +30,32 @@ class btDispatcher;
/// Place holder, not fully implemented yet
class btCompoundCollisionAlgorithm : public btCollisionAlgorithm
{
btDispatcher* m_dispatcher;
btBroadphaseProxy m_compoundProxy;
btBroadphaseProxy m_otherProxy;
std::vector<btBroadphaseProxy> m_childProxies;
std::vector<btCollisionAlgorithm*> m_childCollisionAlgorithms;
btBroadphaseProxy m_compound;
btBroadphaseProxy m_other;
bool m_isSwapped;
public:
btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
virtual ~btCompoundCollisionAlgorithm();
virtual void processCollision (btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,const btDispatcherInfo& dispatchInfo);
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
float calculateTimeOfImpact(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,const btDispatcherInfo& dispatchInfo);
float calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
return new btCompoundCollisionAlgorithm(ci,proxy0,proxy1);
return new btCompoundCollisionAlgorithm(ci,body0,body1,false);
}
};
struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
return new btCompoundCollisionAlgorithm(ci,proxy1,proxy0);
return new btCompoundCollisionAlgorithm(ci,body0,body1,true);
}
};