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added basic collision filtering, in broadphase. more advanced collision filtering should happen in CollisionDispatch::NeedsCollision

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fixed CcdPhysicsDemo: don't pick static objects, it create a point 2 point constraint, which assert in jacobian generation
This commit is contained in:
ejcoumans
2006-06-25 19:36:50 +00:00
parent 8376da46a6
commit c8a0c95195
12 changed files with 106 additions and 26 deletions
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8
Bullet/BroadphaseCollision/SimpleBroadphase.cpp
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@@ -74,7 +74,7 @@ SimpleBroadphase::~SimpleBroadphase()
}
BroadphaseProxy* SimpleBroadphase::CreateProxy( const SimdVector3& min, const SimdVector3& max,int shapeType,void* userPtr)
BroadphaseProxy* SimpleBroadphase::CreateProxy( const SimdVector3& min, const SimdVector3& max,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask)
{
if (m_numProxies >= m_maxProxies)
{
@@ -84,7 +84,7 @@ BroadphaseProxy* SimpleBroadphase::CreateProxy( const SimdVector3& min, const
assert(min[0]<= max[0] && min[1]<= max[1] && min[2]<= max[2]);
int freeIndex= m_freeProxies[m_firstFreeProxy];
SimpleBroadphaseProxy* proxy = new (&m_proxies[freeIndex])SimpleBroadphaseProxy(min,max,shapeType,userPtr);
SimpleBroadphaseProxy* proxy = new (&m_proxies[freeIndex])SimpleBroadphaseProxy(min,max,shapeType,userPtr,collisionFilterGroup,collisionFilterMask);
m_firstFreeProxy++;
SimpleBroadphaseProxy* proxy1 = &m_proxies[0];
@@ -181,6 +181,10 @@ void SimpleBroadphase::AddOverlappingPair(BroadphaseProxy* proxy0,BroadphaseProx
//don't add overlap with own
assert(proxy0 != proxy1);
if (!NeedsCollision(proxy0,proxy1))
return;
BroadphasePair pair(*proxy0,*proxy1);
m_OverlappingPairs[m_NumOverlapBroadphasePair] = pair;