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Improved CharacterDemo/KinematicCharacterController, dynamic objects will bounce off.

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Don't create a todo list for doxygen by default (the chaotic todo's would confuse most developers)
Improve support for small objects, by having dynamic contact breaking thresholds. Still needs small internal timestep and some GJK improvements.
This commit is contained in:
erwin.coumans
2008-11-05 03:28:10 +00:00
parent f964c2f644
commit d25d264e77
20 changed files with 81 additions and 73 deletions
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4
src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
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@@ -78,6 +78,8 @@ btPersistentManifold* btCollisionDispatcher::getNewManifold(void* b0,void* b1)
btCollisionObject* body0 = (btCollisionObject*)b0;
btCollisionObject* body1 = (btCollisionObject*)b1;
btScalar contactBreakingThreshold = btMin(gContactBreakingThreshold,btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold()));
void* mem = 0;
@@ -89,7 +91,7 @@ btPersistentManifold* btCollisionDispatcher::getNewManifold(void* b0,void* b1)
mem = btAlignedAlloc(sizeof(btPersistentManifold),16);
}
btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0);
btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0,contactBreakingThreshold);
manifold->m_index1a = m_manifoldsPtr.size();
m_manifoldsPtr.push_back(manifold);