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Add support for childshape index for btCompoundShape during ContactAddedCallback,

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see example in Bullet/Demos/ConvexDecompositionDemo
Removed some warnings
This commit is contained in:
erwin.coumans
2009-08-11 00:30:41 +00:00
parent f352cca5cf
commit d67aa861f2
40 changed files with 235 additions and 113 deletions
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2
Demos/AllBulletDemos/DemoEntries.cpp
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@@ -111,7 +111,7 @@ btDemoEntry g_demoEntries[] =
{"Basic Demo", BasicDemo::Create},
{"Convex Decomposition",ConvexDecompositionDemo::Create},
{"Concave Moving", GimpactConcaveDemo::Create},
// {"Dynamic Control Demo",MotorDemo::Create},
{"Dynamic Control Demo",MotorDemo::Create},
//{"ConcaveDemo",ConcaveDemo::Create},
{"Concave Convexcast Demo",ConcaveConvexcastDemo::Create},
// {"SoftBody Cloth",SoftDemo0::Create},

45
Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
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@@ -62,9 +62,39 @@ void ConvexDecompositionDemo::initPhysics()
///MyContactCallback is just an example to show how to get access to the child shape that collided
bool MyContactCallback (
btManifoldPoint& cp,
const btCollisionObject* colObj0,
int partId0,
int index0,
const btCollisionObject* colObj1,
int partId1,
int index1)
{
if (colObj0->getRootCollisionShape()->getShapeType()==COMPOUND_SHAPE_PROXYTYPE)
{
btCompoundShape* compound = (btCompoundShape*)colObj0->getRootCollisionShape();
btCollisionShape* childShape;
childShape = compound->getChildShape(index0);
}
if (colObj1->getRootCollisionShape()->getShapeType()==COMPOUND_SHAPE_PROXYTYPE)
{
btCompoundShape* compound = (btCompoundShape*)colObj1->getRootCollisionShape();
btCollisionShape* childShape;
childShape = compound->getChildShape(index1);
}
return true;
}
void ConvexDecompositionDemo::initPhysics(const char* filename)
{
gContactAddedCallback = &MyContactCallback;
setTexturing(true);
setShadows(true);
@@ -396,7 +426,7 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
//now create some bodies
{
btCompoundShape* compound = new btCompoundShape();
btCompoundShape* compound = new btCompoundShape(false);
m_collisionShapes.push_back (compound);
btTransform trans;
@@ -411,14 +441,19 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
}
btScalar mass=10.f;
trans.setOrigin(-convexDecompositionObjectOffset);
localCreateRigidBody( mass, trans,compound);
btRigidBody* body = localCreateRigidBody( mass, trans,compound);
body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
convexDecompositionObjectOffset.setZ(6);
trans.setOrigin(-convexDecompositionObjectOffset);
localCreateRigidBody( mass, trans,compound);
body = localCreateRigidBody( mass, trans,compound);
body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
convexDecompositionObjectOffset.setZ(-6);
trans.setOrigin(-convexDecompositionObjectOffset);
localCreateRigidBody( mass, trans,compound);
body = localCreateRigidBody( mass, trans,compound);
body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
}

3
Demos/DynamicControlDemo/MotorDemo.cpp
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@@ -338,7 +338,8 @@ void MotorDemo::clientMoveAndDisplay()
if (m_dynamicsWorld)
{
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
///run the simulation at 120 hertz internally (maximum of 10 substeps)
m_dynamicsWorld->stepSimulation(ms / 1000000.f,10,1./120.f);
m_dynamicsWorld->debugDrawWorld();
}

5
Demos/EPAPenDepthDemo/PenetrationTestBullet.cpp
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@@ -283,7 +283,10 @@ static float gDepth;
struct MyResult : public btDiscreteCollisionDetectorInterface::Result
{
virtual void setShapeIdentifiers(int partId0, int index0, int partId1, int index1)
virtual void setShapeIdentifiersA(int partId0, int index0)
{
}
virtual void setShapeIdentifiersB(int partId1, int index1)
{
}

3
Demos/RagdollDemo/RagdollDemo.cpp
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@@ -349,6 +349,9 @@ void RagdollDemo::initPhysics()
m_solver = new btSequentialImpulseConstraintSolver;
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
//m_dynamicsWorld->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
//m_dynamicsWorld->getDispatchInfo().m_convexConservativeDistanceThreshold = 0.01f;
// Setup a big ground box