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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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5
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -127,6 +127,11 @@ void btCollisionWorld::updateAabbs()
{
btPoint3 minAabb,maxAabb;
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
//need to increase the aabb for contact thresholds
btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold);
minAabb -= contactThreshold;
maxAabb += contactThreshold;
btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache;
//moving objects should be moderately sized, probably something wrong if not

12
src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
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@@ -22,7 +22,9 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
#include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h"
#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
#include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
@@ -70,11 +72,14 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
mem = btAlignedAlloc(sizeof(btSphereSphereCollisionAlgorithm::CreateFunc),16);
m_sphereSphereCF = new(mem) btSphereSphereCollisionAlgorithm::CreateFunc;
#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc),16);
m_sphereBoxCF = new(mem) btSphereBoxCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc),16);
m_boxSphereCF = new (mem)btSphereBoxCollisionAlgorithm::CreateFunc;
m_boxSphereCF->m_swapped = true;
#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
mem = btAlignedAlloc(sizeof(btSphereTriangleCollisionAlgorithm::CreateFunc),16);
m_sphereTriangleCF = new (mem)btSphereTriangleCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btSphereTriangleCollisionAlgorithm::CreateFunc),16);
@@ -176,10 +181,13 @@ btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
m_sphereSphereCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_sphereSphereCF);
#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
m_sphereBoxCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_sphereBoxCF);
m_boxSphereCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_boxSphereCF);
#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
m_sphereTriangleCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_sphereTriangleCF);
m_triangleSphereCF->~btCollisionAlgorithmCreateFunc();
@@ -212,7 +220,7 @@ btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlg
{
return m_sphereSphereCF;
}
#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1==BOX_SHAPE_PROXYTYPE))
{
return m_sphereBoxCF;
@@ -222,6 +230,8 @@ btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlg
{
return m_boxSphereCF;
}
#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE ) && (proxyType1==TRIANGLE_SHAPE_PROXYTYPE))
{

3
src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
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@@ -71,8 +71,11 @@ class btDefaultCollisionConfiguration : public btCollisionConfiguration
btCollisionAlgorithmCreateFunc* m_swappedCompoundCreateFunc;
btCollisionAlgorithmCreateFunc* m_emptyCreateFunc;
btCollisionAlgorithmCreateFunc* m_sphereSphereCF;
#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
btCollisionAlgorithmCreateFunc* m_sphereBoxCF;
btCollisionAlgorithmCreateFunc* m_boxSphereCF;
#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
btCollisionAlgorithmCreateFunc* m_boxBoxCF;
btCollisionAlgorithmCreateFunc* m_sphereTriangleCF;
btCollisionAlgorithmCreateFunc* m_triangleSphereCF;