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More GJK degeneracy fixes, thanks Jacob Langford for the feedback:

Browse Source 
http://code.google.com/p/bullet/issues/detail?id=250

Added missing files for Maya Dynamica plugin
Thanks Herbert Law for the patch, and damrit and others for the report
http://code.google.com/p/bullet/issues/detail?id=231

Fix btQuaternion shortestArcQuat, thanks Stan Melax for original fix and shogun for reminder
http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1989

Implemented btDiscreteDynamicsWorld::removeCollisionObject (and btSoftBodyDynamicsWorld) to avoid
crashes. Thanks Jacob Langford for bringing that up.

Minor sphere-debug drawing issue (spheres were drawn inside-out (wrong face winding)
This commit is contained in:
erwin.coumans
2009-07-13 21:48:19 +00:00
parent d4b099236c
commit c4ad354ac0
16 changed files with 329 additions and 65 deletions
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64
Demos/OpenGL/DemoApplication.cpp
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@@ -1354,47 +1354,47 @@ void DemoApplication::clientResetScene()
if (m_dynamicsWorld)
{
numObjects = m_dynamicsWorld->getNumCollisionObjects();
}
///create a copy of the array, not a reference!
btCollisionObjectArray copyArray = m_dynamicsWorld->getCollisionObjectArray();
///create a copy of the array, not a reference!
btCollisionObjectArray copyArray = m_dynamicsWorld->getCollisionObjectArray();
for (i=0;i<numObjects;i++)
{
btCollisionObject* colObj = copyArray[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
for (i=0;i<numObjects;i++)
{
if (body->getMotionState())
{
btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
myMotionState->m_graphicsWorldTrans = myMotionState->m_startWorldTrans;
body->setCenterOfMassTransform( myMotionState->m_graphicsWorldTrans );
colObj->setInterpolationWorldTransform( myMotionState->m_startWorldTrans );
colObj->forceActivationState(ACTIVE_TAG);
colObj->activate();
colObj->setDeactivationTime(0);
//colObj->setActivationState(WANTS_DEACTIVATION);
}
//removed cached contact points (this is not necessary if all objects have been removed from the dynamics world)
//m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(colObj->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
btCollisionObject* colObj = copyArray[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && !body->isStaticObject())
if (body)
{
btRigidBody::upcast(colObj)->setLinearVelocity(btVector3(0,0,0));
btRigidBody::upcast(colObj)->setAngularVelocity(btVector3(0,0,0));
if (body->getMotionState())
{
btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
myMotionState->m_graphicsWorldTrans = myMotionState->m_startWorldTrans;
body->setCenterOfMassTransform( myMotionState->m_graphicsWorldTrans );
colObj->setInterpolationWorldTransform( myMotionState->m_startWorldTrans );
colObj->forceActivationState(ACTIVE_TAG);
colObj->activate();
colObj->setDeactivationTime(0);
//colObj->setActivationState(WANTS_DEACTIVATION);
}
//removed cached contact points (this is not necessary if all objects have been removed from the dynamics world)
//m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(colObj->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && !body->isStaticObject())
{
btRigidBody::upcast(colObj)->setLinearVelocity(btVector3(0,0,0));
btRigidBody::upcast(colObj)->setAngularVelocity(btVector3(0,0,0));
}
}
}
///reset some internal cached data in the broadphase
m_dynamicsWorld->getBroadphase()->resetPool(getDynamicsWorld()->getDispatcher());
m_dynamicsWorld->getConstraintSolver()->reset();
}
///reset some internal cached data in the broadphase
m_dynamicsWorld->getBroadphase()->resetPool(getDynamicsWorld()->getDispatcher());
m_dynamicsWorld->getConstraintSolver()->reset();
}