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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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15
src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
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@@ -18,14 +18,14 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1)
: btCollisionAlgorithm(ci),
m_ownManifold(false),
m_manifoldPtr(mf)
{
if (!m_manifoldPtr && m_dispatcher->needsCollision(*proxy0,*proxy1))
if (!m_manifoldPtr)
{
m_manifoldPtr = m_dispatcher->getNewManifold(proxy0->m_clientObject,proxy1->m_clientObject);
m_manifoldPtr = m_dispatcher->getNewManifold(col0,col1);
m_ownManifold = true;
}
}
@@ -39,13 +39,11 @@ btSphereSphereCollisionAlgorithm::~btSphereSphereCollisionAlgorithm()
}
}
void btSphereSphereCollisionAlgorithm::processCollision (btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,const btDispatcherInfo& dispatchInfo)
void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
if (!m_manifoldPtr)
return;
btCollisionObject* col0 = static_cast<btCollisionObject*>(proxy0->m_clientObject);
btCollisionObject* col1 = static_cast<btCollisionObject*>(proxy1->m_clientObject);
btSphereShape* sphere0 = (btSphereShape*)col0->m_collisionShape;
btSphereShape* sphere1 = (btSphereShape*)col1->m_collisionShape;
@@ -68,13 +66,12 @@ void btSphereSphereCollisionAlgorithm::processCollision (btBroadphaseProxy* prox
btVector3 pos1 = col1->m_worldTransform.getOrigin() + radius1* normalOnSurfaceB;
/// report a contact. internally this will be kept persistent, and contact reduction is done
btManifoldResult* resultOut = m_dispatcher->getNewManifoldResult(col0,col1,m_manifoldPtr);
resultOut->setPersistentManifold(m_manifoldPtr);
resultOut->addContactPoint(normalOnSurfaceB,pos1,dist);
m_dispatcher->releaseManifoldResult(resultOut);
}
float btSphereSphereCollisionAlgorithm::calculateTimeOfImpact(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,const btDispatcherInfo& dispatchInfo)
float btSphereSphereCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
//not yet
return 1.f;