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updated version, added 'singleObjectQuery' preliminary collision query (convex cast etc)

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added filtering for raycast, thanks Jacky_J
const propagated through a few files
added btHeightfieldTerrainShape.cpp to cmake buildsystem
This commit is contained in:
ejcoumans
2007-07-03 05:10:20 +00:00
parent 485677513b
commit cdc8485db9
11 changed files with 78 additions and 51 deletions
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12
Extras/GIMPACT/BULLET_PHYSICS.build/Debug/libLibGIMPACT.a.build/libLibGIMPACT.a.dep
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@@ -1,7 +1,7 @@
00000000002a1016000000000000944b 582e883c151ba574c0f5b6085732499b ffffffffffffffffffffffffffffffff 61676 /Users/erwincoumans/develop/sf/bullet-2.54/Extras/GIMPACT/BULLET_PHYSICS.build/Debug/libLibGIMPACT.a.build/Objects-normal/i386/gim_tri_collision.o 00000000002a1016000000000000944b 582e883c151ba574c0f5b6085732499b ffffffffffffffffffffffffffffffff 0 /Users/erwincoumans/develop/sf/bullet-2.54/Extras/GIMPACT/BULLET_PHYSICS.build/Debug/libLibGIMPACT.a.build/Objects-normal/i386/gim_tri_collision.o
0000000044427ffb000000000000cc2e fadb4c71fc3b509301f1b79175fc75b7 ffffffffffffffffffffffffffffffff 6748 /Users/erwincoumans/develop/sf/bullet-2.54/Extras/GIMPACT/BULLET_PHYSICS.build/Debug/libLibGIMPACT.a.build/Objects-normal/i386/gim_memory.o 0000000044427ffb000000000000cc2e fadb4c71fc3b509301f1b79175fc75b7 ffffffffffffffffffffffffffffffff 0 /Users/erwincoumans/develop/sf/bullet-2.54/Extras/GIMPACT/BULLET_PHYSICS.build/Debug/libLibGIMPACT.a.build/Objects-normal/i386/gim_memory.o
00000000464e4b6e000000000000af12 54d6f4ff7c506f1e8f42a617b21b1f30 ffffffffffffffffffffffffffffffff 48500 /Users/erwincoumans/develop/sf/bullet-2.54/Extras/GIMPACT/BULLET_PHYSICS.build/Debug/libLibGIMPACT.a.build/Objects-normal/i386/gim_contact.o 00000000464e4b6e000000000000af12 54d6f4ff7c506f1e8f42a617b21b1f30 ffffffffffffffffffffffffffffffff 0 /Users/erwincoumans/develop/sf/bullet-2.54/Extras/GIMPACT/BULLET_PHYSICS.build/Debug/libLibGIMPACT.a.build/Objects-normal/i386/gim_contact.o
00000000001ce1140000000000005087 8abd5fd65e40fdff4b616094d8f3a471 ffffffffffffffffffffffffffffffff 54688 /Users/erwincoumans/develop/sf/bullet-2.54/Extras/GIMPACT/BULLET_PHYSICS.build/Debug/libLibGIMPACT.a.build/Objects-normal/i386/gim_box_set.o 00000000001ce1140000000000005087 8abd5fd65e40fdff4b616094d8f3a471 ffffffffffffffffffffffffffffffff 0 /Users/erwincoumans/develop/sf/bullet-2.54/Extras/GIMPACT/BULLET_PHYSICS.build/Debug/libLibGIMPACT.a.build/Objects-normal/i386/gim_box_set.o
00000000467d375200000000000039ed d7bf46a0db97844dd677c02246b8f3a8 ffffffffffffffffffffffffffffffff 235632 /Users/erwincoumans/develop/sf/bullet-2.54/Extras/GIMPACT/BULLET_PHYSICS.build/Debug/libLibGIMPACT.a.build/Objects-normal/i386/btGImpactShape.o 00000000467d375200000000000039ed d7bf46a0db97844dd677c02246b8f3a8 ffffffffffffffffffffffffffffffff 0 /Users/erwincoumans/develop/sf/bullet-2.54/Extras/GIMPACT/BULLET_PHYSICS.build/Debug/libLibGIMPACT.a.build/Objects-normal/i386/btGImpactShape.o
0000000000200129000000000000dc1f 70e1b343c97824104bf5cf6ce036c670 ffffffffffffffffffffffffffffffff 385580 /Users/erwincoumans/develop/sf/bullet-2.54/Extras/GIMPACT/BULLET_PHYSICS.build/Debug/libLibGIMPACT.a.build/Objects-normal/i386/btGImpactCollisionAlgorithm.o 0000000000200129000000000000dc1f 70e1b343c97824104bf5cf6ce036c670 ffffffffffffffffffffffffffffffff 0 /Users/erwincoumans/develop/sf/bullet-2.54/Extras/GIMPACT/BULLET_PHYSICS.build/Debug/libLibGIMPACT.a.build/Objects-normal/i386/btGImpactCollisionAlgorithm.o
dbc09a87dbc430ff98a5c854eea8f3d1 32e74142d5c8ece00339d5418a5668e7 ffffffffffffffffffffffffffffffff 834284 /Users/erwincoumans/develop/sf/bullet-2.54/Extras/GIMPACT/Debug/libLibGIMPACT.a dbc09a87dbc430ff98a5c854eea8f3d1 32e74142d5c8ece00339d5418a5668e7 ffffffffffffffffffffffffffffffff 834284 /Users/erwincoumans/develop/sf/bullet-2.54/Extras/GIMPACT/Debug/libLibGIMPACT.a

2
VERSION
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@@ -1,3 +1,3 @@
Bullet Collision Detection and Physics Library version 2.53 Bullet Collision Detection and Physics Library version 2.54
http://bullet.sourceforge.net http://bullet.sourceforge.net

20
configure vendored
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@@ -1,6 +1,6 @@
#! /bin/sh #! /bin/sh
# Guess values for system-dependent variables and create Makefiles. # Guess values for system-dependent variables and create Makefiles.
# Generated by GNU Autoconf 2.59 for bullet 2.53. # Generated by GNU Autoconf 2.59 for bullet 2.54.
# #
# Report bugs to <bullet@erwincoumans.com>. # Report bugs to <bullet@erwincoumans.com>.
# #
@@ -271,8 +271,8 @@ SHELL=${CONFIG_SHELL-/bin/sh}
# Identity of this package. # Identity of this package.
PACKAGE_NAME='bullet' PACKAGE_NAME='bullet'
PACKAGE_TARNAME='bullet' PACKAGE_TARNAME='bullet'
PACKAGE_VERSION='2.53' PACKAGE_VERSION='2.54'
PACKAGE_STRING='bullet 2.53' PACKAGE_STRING='bullet 2.54'
PACKAGE_BUGREPORT='bullet@erwincoumans.com' PACKAGE_BUGREPORT='bullet@erwincoumans.com'
ac_unique_file="mk/jam/build.jam" ac_unique_file="mk/jam/build.jam"
@@ -790,7 +790,7 @@ if test "$ac_init_help" = "long"; then
# Omit some internal or obsolete options to make the list less imposing. # Omit some internal or obsolete options to make the list less imposing.
# This message is too long to be a string in the A/UX 3.1 sh. # This message is too long to be a string in the A/UX 3.1 sh.
cat <<_ACEOF cat <<_ACEOF
\`configure' configures bullet 2.53 to adapt to many kinds of systems. \`configure' configures bullet 2.54 to adapt to many kinds of systems.
Usage: $0 [OPTION]... [VAR=VALUE]... Usage: $0 [OPTION]... [VAR=VALUE]...
@@ -855,7 +855,7 @@ fi
if test -n "$ac_init_help"; then if test -n "$ac_init_help"; then
case $ac_init_help in case $ac_init_help in
short | recursive ) echo "Configuration of bullet 2.53:";; short | recursive ) echo "Configuration of bullet 2.54:";;
esac esac
cat <<\_ACEOF cat <<\_ACEOF
@@ -980,7 +980,7 @@ fi
test -n "$ac_init_help" && exit 0 test -n "$ac_init_help" && exit 0
if $ac_init_version; then if $ac_init_version; then
cat <<\_ACEOF cat <<\_ACEOF
bullet configure 2.53 bullet configure 2.54
generated by GNU Autoconf 2.59 generated by GNU Autoconf 2.59
Copyright (C) 2003 Free Software Foundation, Inc. Copyright (C) 2003 Free Software Foundation, Inc.
@@ -994,7 +994,7 @@ cat >&5 <<_ACEOF
This file contains any messages produced by compilers while This file contains any messages produced by compilers while
running configure, to aid debugging if configure makes a mistake. running configure, to aid debugging if configure makes a mistake.
It was created by bullet $as_me 2.53, which was It was created by bullet $as_me 2.54, which was
generated by GNU Autoconf 2.59. Invocation command line was generated by GNU Autoconf 2.59. Invocation command line was
$ $0 $@ $ $0 $@
@@ -9898,7 +9898,7 @@ cs_jamconfig_text="${cs_jamconfig_text}PACKAGE_NAME ?= \"$PACKAGE_NAME\" ;
" "
cs_jamconfig_text="${cs_jamconfig_text}PACKAGE_COPYRIGHT ?= \"$PACKAGE_COPYRIGHT\" ; cs_jamconfig_text="${cs_jamconfig_text}PACKAGE_COPYRIGHT ?= \"$PACKAGE_COPYRIGHT\" ;
" "
for cs_veritem in 2 53; do for cs_veritem in 2 54; do
cs_jamconfig_text="${cs_jamconfig_text}PACKAGE_VERSION_LIST += \"$cs_veritem\" ; cs_jamconfig_text="${cs_jamconfig_text}PACKAGE_VERSION_LIST += \"$cs_veritem\" ;
" "
done done
@@ -10275,7 +10275,7 @@ _ASBOX
} >&5 } >&5
cat >&5 <<_CSEOF cat >&5 <<_CSEOF
This file was extended by bullet $as_me 2.53, which was This file was extended by bullet $as_me 2.54, which was
generated by GNU Autoconf 2.59. Invocation command line was generated by GNU Autoconf 2.59. Invocation command line was
CONFIG_FILES = $CONFIG_FILES CONFIG_FILES = $CONFIG_FILES
@@ -10338,7 +10338,7 @@ _ACEOF
cat >>$CONFIG_STATUS <<_ACEOF cat >>$CONFIG_STATUS <<_ACEOF
ac_cs_version="\\ ac_cs_version="\\
bullet config.status 2.53 bullet config.status 2.54
configured by $0, generated by GNU Autoconf 2.59, configured by $0, generated by GNU Autoconf 2.59,
with options \\"`echo "$ac_configure_args" | sed 's/[\\""\`\$]/\\\\&/g'`\\" with options \\"`echo "$ac_configure_args" | sed 's/[\\""\`\$]/\\\\&/g'`\\"

2
configure.ac
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@@ -9,7 +9,7 @@ AC_PREREQ([2.54])
#---------------------------------------------------------------------------- #----------------------------------------------------------------------------
AC_INIT( AC_INIT(
[bullet], [bullet],
[2.53], [2.54],
[bullet@erwincoumans.com]) [bullet@erwincoumans.com])
CS_PACKAGEINFO( CS_PACKAGEINFO(
[Bullet Continuous Collision Detection and Physics Library], [Bullet Continuous Collision Detection and Physics Library],

1
src/BulletCollision/CMakeLists.txt
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@@ -33,6 +33,7 @@ ADD_LIBRARY(LibBulletCollision
CollisionShapes/btConvexTriangleMeshShape.cpp CollisionShapes/btConvexTriangleMeshShape.cpp
CollisionShapes/btCylinderShape.cpp CollisionShapes/btCylinderShape.cpp
CollisionShapes/btEmptyShape.cpp CollisionShapes/btEmptyShape.cpp
CollisionShapes/btHeightfieldTerrainShape.cpp
CollisionShapes/btMinkowskiSumShape.cpp CollisionShapes/btMinkowskiSumShape.cpp
CollisionShapes/btMultiSphereShape.cpp CollisionShapes/btMultiSphereShape.cpp
CollisionShapes/btOptimizedBvh.cpp CollisionShapes/btOptimizedBvh.cpp

36
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -17,6 +17,8 @@ subject to the following restrictions:
#include "btCollisionDispatcher.h" #include "btCollisionDispatcher.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h" #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btCollisionShape.h" #include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h" //for raycasting #include "BulletCollision/CollisionShapes/btSphereShape.h" //for raycasting
#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h" //for raycasting #include "BulletCollision/CollisionShapes/btTriangleMeshShape.h" //for raycasting
#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h" #include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
@@ -179,12 +181,27 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
btCollisionObject* collisionObject, btCollisionObject* collisionObject,
const btCollisionShape* collisionShape, const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform, const btTransform& colObjWorldTransform,
RayResultCallback& resultCallback) RayResultCallback& resultCallback,short int collisionFilterMask)
{ {
btSphereShape pointShape(btScalar(0.0)); btSphereShape pointShape(btScalar(0.0));
pointShape.setMargin(0.f); pointShape.setMargin(0.f);
objectQuerySingle(&pointShape,rayFromTrans,rayToTrans,
collisionObject,
collisionShape,
colObjWorldTransform,
resultCallback,collisionFilterMask);
}
void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const btTransform& rayFromTrans,const btTransform& rayToTrans,
btCollisionObject* collisionObject,
const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform,
RayResultCallback& resultCallback,short int collisionFilterMask)
{
if (collisionShape->isConvex()) if (collisionShape->isConvex())
{ {
btConvexCast::CastResult castResult; btConvexCast::CastResult castResult;
@@ -192,9 +209,9 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
btConvexShape* convexShape = (btConvexShape*) collisionShape; btConvexShape* convexShape = (btConvexShape*) collisionShape;
btVoronoiSimplexSolver simplexSolver; btVoronoiSimplexSolver simplexSolver;
btSubsimplexConvexCast convexCaster(&pointShape,convexShape,&simplexSolver); btSubsimplexConvexCast convexCaster(castShape,convexShape,&simplexSolver);
//GjkConvexCast convexCaster(&pointShape,convexShape,&simplexSolver); //GjkConvexCast convexCaster(castShape,convexShape,&simplexSolver);
//ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0); //ContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult)) if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
{ {
@@ -292,11 +309,11 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
btTransform childTrans = compoundShape->getChildTransform(i); btTransform childTrans = compoundShape->getChildTransform(i);
const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i); const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);
btTransform childWorldTrans = colObjWorldTransform * childTrans; btTransform childWorldTrans = colObjWorldTransform * childTrans;
rayTestSingle(rayFromTrans,rayToTrans, objectQuerySingle(castShape, rayFromTrans,rayToTrans,
collisionObject, collisionObject,
childCollisionShape, childCollisionShape,
childWorldTrans, childWorldTrans,
resultCallback); resultCallback, collisionFilterMask);
} }
@@ -306,7 +323,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
} }
} }
void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback,short int collisionFilterMask)
{ {
@@ -323,7 +340,8 @@ void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& r
for (i=0;i<m_collisionObjects.size();i++) for (i=0;i<m_collisionObjects.size();i++)
{ {
btCollisionObject* collisionObject= m_collisionObjects[i]; btCollisionObject* collisionObject= m_collisionObjects[i];
//only perform raycast if filterMask matches
if(collisionObject->getBroadphaseHandle()->m_collisionFilterGroup & collisionFilterMask) {
//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject(); //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
btVector3 collisionObjectAabbMin,collisionObjectAabbMax; btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax); collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
@@ -337,7 +355,7 @@ void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& r
collisionObject->getCollisionShape(), collisionObject->getCollisionShape(),
collisionObject->getWorldTransform(), collisionObject->getWorldTransform(),
resultCallback); resultCallback);
}
} }
} }

16
src/BulletCollision/CollisionDispatch/btCollisionWorld.h
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@@ -53,9 +53,9 @@ subject to the following restrictions:
* Bullet has been designed in a modular way keeping dependencies to a minimum. The ConvexHullDistance demo demonstrates direct use of btGjkPairDetector. * Bullet has been designed in a modular way keeping dependencies to a minimum. The ConvexHullDistance demo demonstrates direct use of btGjkPairDetector.
* *
* @section copyright Copyright * @section copyright Copyright
* Copyright (C) 2005-2006 Erwin Coumans, some contributions Copyright Gino van den Bergen, Christer Ericson, Simon Hobbs, Ricardo Padrela, F Richter(res), Stephane Redon * Copyright (C) 2005-2007 Erwin Coumans, some contributions Copyright Gino van den Bergen, Christer Ericson, Simon Hobbs, Ricardo Padrela, F Richter(res), Stephane Redon
* Special thanks to all visitors of the Bullet Physics forum, and in particular above contributors, Dave Eberle, Dirk Gregorius, Erin Catto, Dave Eberle, Adam Moravanszky, * Special thanks to all visitors of the Bullet Physics forum, and in particular above contributors, Dave Eberle, Dirk Gregorius, Erin Catto, Dave Eberle, Adam Moravanszky,
* Pierre Terdiman, Kenny Erleben, Russell Smith, Oliver Strunk, Jan Paul van Waveren. * Pierre Terdiman, Kenny Erleben, Russell Smith, Oliver Strunk, Jan Paul van Waveren, Marten Svanfeldt.
* *
*/ */
@@ -66,6 +66,7 @@ subject to the following restrictions:
class btStackAlloc; class btStackAlloc;
class btCollisionShape; class btCollisionShape;
class btConvexShape;
class btBroadphaseInterface; class btBroadphaseInterface;
#include "../../LinearMath/btVector3.h" #include "../../LinearMath/btVector3.h"
#include "../../LinearMath/btTransform.h" #include "../../LinearMath/btTransform.h"
@@ -208,7 +209,7 @@ public:
/// rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback /// rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback
/// This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback. /// This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.
void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback); void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback, short int collisionFilterMask=-1);
/// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest. /// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.
/// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape. /// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape.
@@ -217,7 +218,14 @@ public:
btCollisionObject* collisionObject, btCollisionObject* collisionObject,
const btCollisionShape* collisionShape, const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform, const btTransform& colObjWorldTransform,
RayResultCallback& resultCallback); RayResultCallback& resultCallback, short int collisionFilterMask=-1);
/// objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest.
static void objectQuerySingle(const btConvexShape* castShape, const btTransform& rayFromTrans,const btTransform& rayToTrans,
btCollisionObject* collisionObject,
const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform,
RayResultCallback& resultCallback, short int collisionFilterMask=-1);
void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=1,short int collisionFilterMask=1); void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=1,short int collisionFilterMask=1);

2
src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp
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@@ -16,7 +16,7 @@ subject to the following restrictions:
#include "btMinkowskiSumShape.h" #include "btMinkowskiSumShape.h"
btMinkowskiSumShape::btMinkowskiSumShape(btConvexShape* shapeA,btConvexShape* shapeB) btMinkowskiSumShape::btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB)
:m_shapeA(shapeA), :m_shapeA(shapeA),
m_shapeB(shapeB) m_shapeB(shapeB)
{ {

6
src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
View File

@@ -25,12 +25,12 @@ class btMinkowskiSumShape : public btConvexShape
btTransform m_transA; btTransform m_transA;
btTransform m_transB; btTransform m_transB;
btConvexShape* m_shapeA; const btConvexShape* m_shapeA;
btConvexShape* m_shapeB; const btConvexShape* m_shapeB;
public: public:
btMinkowskiSumShape(btConvexShape* shapeA,btConvexShape* shapeB); btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB);
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;

2
src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
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@@ -20,7 +20,7 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h" #include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
btSubsimplexConvexCast::btSubsimplexConvexCast (btConvexShape* convexA,btConvexShape* convexB,btSimplexSolverInterface* simplexSolver) btSubsimplexConvexCast::btSubsimplexConvexCast (const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver)
:m_simplexSolver(simplexSolver), :m_simplexSolver(simplexSolver),
m_convexA(convexA),m_convexB(convexB) m_convexA(convexA),m_convexB(convexB)
{ {

6
src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h
View File

@@ -28,12 +28,12 @@ class btConvexShape;
class btSubsimplexConvexCast : public btConvexCast class btSubsimplexConvexCast : public btConvexCast
{ {
btSimplexSolverInterface* m_simplexSolver; btSimplexSolverInterface* m_simplexSolver;
btConvexShape* m_convexA; const btConvexShape* m_convexA;
btConvexShape* m_convexB; const btConvexShape* m_convexB;
public: public:
btSubsimplexConvexCast (btConvexShape* shapeA,btConvexShape* shapeB,btSimplexSolverInterface* simplexSolver); btSubsimplexConvexCast (const btConvexShape* shapeA,const btConvexShape* shapeB,btSimplexSolverInterface* simplexSolver);
//virtual ~btSubsimplexConvexCast(); //virtual ~btSubsimplexConvexCast();
///SimsimplexConvexCast calculateTimeOfImpact calculates the time of impact+normal for the linear cast (sweep) between two moving objects. ///SimsimplexConvexCast calculateTimeOfImpact calculates the time of impact+normal for the linear cast (sweep) between two moving objects.