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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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25
src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
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@@ -47,6 +47,12 @@ btManifoldResult::btManifoldResult(btCollisionObject* body0,btCollisionObject* b
:m_manifoldPtr(0),
m_body0(body0),
m_body1(body1)
#ifdef DEBUG_PART_INDEX
,m_partId0(-1),
m_partId1(-1),
m_index0(-1),
m_index1(-1)
#endif //DEBUG_PART_INDEX
{
m_rootTransA = body0->getWorldTransform();
m_rootTransB = body1->getWorldTransform();
@@ -88,10 +94,19 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0,m_body1);
//BP mod, store contact triangles.
newPt.m_partId0 = m_partId0;
newPt.m_partId1 = m_partId1;
newPt.m_index0 = m_index0;
newPt.m_index1 = m_index1;
if (isSwapped)
{
newPt.m_partId0 = m_partId1;
newPt.m_partId1 = m_partId0;
newPt.m_index0 = m_index1;
newPt.m_index1 = m_index0;
} else
{
newPt.m_partId0 = m_partId0;
newPt.m_partId1 = m_partId1;
newPt.m_index0 = m_index0;
newPt.m_index1 = m_index1;
}
//printf("depth=%f\n",depth);
///@todo, check this for any side effects
if (insertIndex >= 0)
@@ -112,7 +127,7 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
//experimental feature info, for per-triangle material etc.
btCollisionObject* obj0 = isSwapped? m_body1 : m_body0;
btCollisionObject* obj1 = isSwapped? m_body0 : m_body1;
(*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex),obj0,m_partId0,m_index0,obj1,m_partId1,m_index1);
(*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex),obj0,newPt.m_partId0,newPt.m_index0,obj1,newPt.m_partId1,newPt.m_index1);
}
}