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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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19
src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h
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@@ -28,33 +28,32 @@ class btSphereBoxCollisionAlgorithm : public btCollisionAlgorithm
{
bool m_ownManifold;
btPersistentManifold* m_manifoldPtr;
btCollisionObject* m_boxColObj;
btCollisionObject* m_sphereColObj;
bool m_isSwapped;
public:
btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);
virtual ~btSphereBoxCollisionAlgorithm();
virtual void processCollision (btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,const struct btDispatcherInfo& dispatchInfo);
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual float calculateTimeOfImpact(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,const struct btDispatcherInfo& dispatchInfo);
virtual float calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
btScalar getSphereDistance( btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius );
btScalar getSphereDistance( btCollisionObject* boxObj,btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius );
btScalar getSpherePenetration( btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax);
btScalar getSpherePenetration( btCollisionObject* boxObj, btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax);
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
if (!m_swapped)
{
return new btSphereBoxCollisionAlgorithm(0,ci,proxy0,proxy1);
return new btSphereBoxCollisionAlgorithm(0,ci,body0,body1,false);
} else
{
return new btSphereBoxCollisionAlgorithm(0,ci,proxy1,proxy0);
return new btSphereBoxCollisionAlgorithm(0,ci,body0,body1,true);
}
}
};