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add FractureDemo to AllBulletDemos

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improvements in CCD handling
some cleanup of CcdPhysicsDemo and BasicDemo
This commit is contained in:
erwin.coumans
2011-04-09 01:14:21 +00:00
parent 2291a6a9d3
commit cdddf9d25a
29 changed files with 550 additions and 867 deletions
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16
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -155,7 +155,7 @@ void btCollisionWorld::updateSingleAabb(btCollisionObject* colObj)
minAabb -= contactThreshold;
maxAabb += contactThreshold;
if(getDispatchInfo().m_convexMaxDistanceUseCPT)
if(getDispatchInfo().m_useContinuous && colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY)
{
btVector3 minAabb2,maxAabb2;
colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2);
@@ -1452,12 +1452,14 @@ void btCollisionWorld::debugDrawWorld()
btVector3 minAabb2,maxAabb2;
colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2);
minAabb2 -= contactThreshold;
maxAabb2 += contactThreshold;
minAabb.setMin(minAabb2);
maxAabb.setMax(maxAabb2);
if(colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY)
{
colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2);
minAabb2 -= contactThreshold;
maxAabb2 += contactThreshold;
minAabb.setMin(minAabb2);
maxAabb.setMax(maxAabb2);
}
m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec);
}

15
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
View File

@@ -361,13 +361,14 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
} else
#endif //USE_SEPDISTANCE_UTIL2
{
if (dispatchInfo.m_convexMaxDistanceUseCPT)
{
input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactProcessingThreshold();
} else
{
input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
}
//if (dispatchInfo.m_convexMaxDistanceUseCPT)
//{
// input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactProcessingThreshold();
//} else
//{
input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
// }
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
}