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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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48
src/BulletCollision/NarrowPhaseCollision/btManifoldContactAddResult.cpp
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@@ -1,48 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btManifoldContactAddResult.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
btManifoldContactAddResult::btManifoldContactAddResult(btTransform transA,btTransform transB,btPersistentManifold* manifoldPtr)
:m_manifoldPtr(manifoldPtr)
{
m_transAInv = transA.inverse();
m_transBInv = transB.inverse();
}
void btManifoldContactAddResult::addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,float depth)
{
if (depth > m_manifoldPtr->getContactBreakingTreshold())
return;
btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
btVector3 localA = m_transAInv(pointA );
btVector3 localB = m_transBInv(pointInWorld);
btManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
int insertIndex = m_manifoldPtr->getCacheEntry(newPt);
if (insertIndex >= 0)
{
m_manifoldPtr->replaceContactPoint(newPt,insertIndex);
} else
{
m_manifoldPtr->AddManifoldPoint(newPt);
}
}

37
src/BulletCollision/NarrowPhaseCollision/btManifoldContactAddResult.h
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@@ -1,37 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef MANIFOLD_CONTACT_ADD_RESULT_H
#define MANIFOLD_CONTACT_ADD_RESULT_H
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
class btPersistentManifold;
class btManifoldContactAddResult : public btDiscreteCollisionDetectorInterface::Result
{
btPersistentManifold* m_manifoldPtr;
btTransform m_transAInv;
btTransform m_transBInv;
public:
btManifoldContactAddResult(btTransform transA,btTransform transB,btPersistentManifold* manifoldPtr);
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,float depth);
};
#endif //MANIFOLD_CONTACT_ADD_RESULT_H