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Calculation of bounding box: margins should be added before basis transform.

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Disable btSphereBoxCollisionAlgorithm, it is broken.
More fixes for btSimpleBroadphase
Moved quickstep to Extras/quickstep folder, so developers don't get confused which constraint solver is default.
This commit is contained in:
erwin.coumans
2008-09-04 22:53:24 +00:00
parent 5334611f48
commit d8a5bf2c9c
29 changed files with 54 additions and 51 deletions
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15
Demos/BasicDemo/BasicDemo.cpp
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@@ -92,6 +92,7 @@ void BasicDemo::initPhysics()
///Don't make the world AABB size too large, it will harm simulation quality and performance
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
//m_overlappingPairCache = new btSimpleBroadphase();//new btAxisSweep3(worldAabbMin,worldAabbMax,MAX_PROXIES);
m_overlappingPairCache = new btAxisSweep3(worldAabbMin,worldAabbMax,MAX_PROXIES);
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
@@ -104,8 +105,8 @@ void BasicDemo::initPhysics()
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
///create a few basic rigid bodies
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
// btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
m_collisionShapes.push_back(groundShape);
@@ -161,13 +162,15 @@ void BasicDemo::initPhysics()
for (int k=0;k<ARRAY_SIZE_Y;k++)
{
for (int i=0;i<ARRAY_SIZE_X;i++)
int i=0;
// for (int i=0;i<ARRAY_SIZE_X;i++)
{
for(int j = 0;j<ARRAY_SIZE_Z;j++)
int j=0;
// for(int j = 0;j<ARRAY_SIZE_Z;j++)
{
startTransform.setOrigin(btVector3(
2.0*i + start_x,
2.0*k + start_y,
10+2.0*k + start_y,
2.0*j + start_z));
@@ -175,8 +178,10 @@ void BasicDemo::initPhysics()
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
body->setActivationState(ISLAND_SLEEPING);
m_dynamicsWorld->addRigidBody(body);
body->setActivationState(ISLAND_SLEEPING);
}
}
}