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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/btManifoldResult.cpp
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@@ -43,25 +43,29 @@ inline btScalar calculateCombinedRestitution(const btCollisionObject* body0,cons
btManifoldResult::btManifoldResult(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* manifoldPtr)
:m_manifoldPtr(manifoldPtr),
btManifoldResult::btManifoldResult(btCollisionObject* body0,btCollisionObject* body1)
:m_manifoldPtr(0),
m_body0(body0),
m_body1(body1)
{
}
{
m_rootTransA = body0->m_worldTransform;
m_rootTransB = body1->m_worldTransform;
}
void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,float depth)
{
assert(m_manifoldPtr);
//order in manifold needs to match
if (depth > m_manifoldPtr->getContactBreakingTreshold())
return;
bool isSwapped = m_manifoldPtr->getBody0() != m_body0;
btTransform transAInv = m_body0->m_worldTransform.inverse();
btTransform transBInv= m_body1->m_worldTransform.inverse();
btTransform transAInv = isSwapped? m_rootTransB.inverse() : m_rootTransA.inverse();
btTransform transBInv = isSwapped? m_rootTransA.inverse() : m_rootTransB.inverse();
//transAInv = m_body0->m_worldTransform.inverse();
//transBInv= m_body1->m_worldTransform.inverse();
btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
btVector3 localA = transAInv(pointA );
btVector3 localB = transBInv(pointInWorld);
@@ -88,8 +92,8 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
//User can override friction and/or restitution
if (gContactAddedCallback &&
//and if either of the two bodies requires custom material
((m_body0->m_collisionFlags & btCollisionObject::customMaterialCallback) ||
(m_body1->m_collisionFlags & btCollisionObject::customMaterialCallback)))
((m_body0->m_collisionFlags & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK) ||
(m_body1->m_collisionFlags & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)))
{
//experimental feature info, for per-triangle material etc.
(*gContactAddedCallback)(newPt,m_body0,m_partId0,m_index0,m_body1,m_partId1,m_index1);