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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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29
src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
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@@ -68,9 +68,8 @@ void btSliderConstraint::initParams()
btSliderConstraint::btSliderConstraint()
:btTypedConstraint(SLIDER_CONSTRAINT_TYPE),
m_useLinearReferenceFrameA(true),
m_useSolveConstraintObsolete(false)
// m_useSolveConstraintObsolete(true)
m_useSolveConstraintObsolete(false),
m_useLinearReferenceFrameA(true)
{
initParams();
}
@@ -78,12 +77,11 @@ btSliderConstraint::btSliderConstraint()
btSliderConstraint::btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
: btTypedConstraint(SLIDER_CONSTRAINT_TYPE, rbA, rbB)
, m_frameInA(frameInA)
, m_frameInB(frameInB),
m_useLinearReferenceFrameA(useLinearReferenceFrameA),
m_useSolveConstraintObsolete(false)
// m_useSolveConstraintObsolete(true)
: btTypedConstraint(SLIDER_CONSTRAINT_TYPE, rbA, rbB),
m_useSolveConstraintObsolete(false),
m_frameInA(frameInA),
m_frameInB(frameInB),
m_useLinearReferenceFrameA(useLinearReferenceFrameA)
{
initParams();
}
@@ -91,12 +89,10 @@ btSliderConstraint::btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const
static btRigidBody s_fixed(0, 0, 0);
btSliderConstraint::btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB)
: btTypedConstraint(SLIDER_CONSTRAINT_TYPE, s_fixed, rbB)
,
m_frameInB(frameInB),
m_useLinearReferenceFrameA(useLinearReferenceFrameB),
m_useSolveConstraintObsolete(false)
// m_useSolveConstraintObsolete(true)
: btTypedConstraint(SLIDER_CONSTRAINT_TYPE, s_fixed, rbB),
m_useSolveConstraintObsolete(false),
m_frameInB(frameInB),
m_useLinearReferenceFrameA(useLinearReferenceFrameB)
{
///not providing rigidbody B means implicitly using worldspace for body B
// m_frameInA.getOrigin() = m_rbA.getCenterOfMassTransform()(m_frameInA.getOrigin());
@@ -217,9 +213,6 @@ void btSliderConstraint::getInfo1NonVirtual(btConstraintInfo1* info)
void btSliderConstraint::getInfo2(btConstraintInfo2* info)
{
const btTransform& trA = getCalculatedTransformA();
const btTransform& trB = getCalculatedTransformB();
getInfo2NonVirtual(info,m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(), m_rbA.getLinearVelocity(),m_rbB.getLinearVelocity(), m_rbA.getInvMass(),m_rbB.getInvMass());
}