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remove that odd triangle in the origin of samurai castle (VR)

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add rolling/spinning friction to cube, remove it from plane/samurai.urdf
URDF2Bullet: support joint limits for revolute and prismatic, only if defined (if upper < lower, disable limit)
add some profiling markers to improve performance
This commit is contained in:
erwin coumans
2016-09-19 07:02:43 -07:00
parent 48d42c7c6e
commit db3122233f
23 changed files with 297 additions and 113 deletions
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5
src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
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@@ -15,6 +15,7 @@ subject to the following restrictions:
#include "btConvexConcaveCollisionAlgorithm.h"
#include "LinearMath/btQuickprof.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
@@ -79,6 +80,7 @@ void btConvexTriangleCallback::clearCache()
void btConvexTriangleCallback::processTriangle(btVector3* triangle,int
partId, int triangleIndex)
{
BT_PROFILE("btConvexTriangleCallback::processTriangle");
if (!TestTriangleAgainstAabb2(triangle, m_aabbMin, m_aabbMax))
{
@@ -184,7 +186,7 @@ void btConvexConcaveCollisionAlgorithm::clearCache()
void btConvexConcaveCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
BT_PROFILE("btConvexConcaveCollisionAlgorithm::processCollision");
const btCollisionObjectWrapper* convexBodyWrap = m_isSwapped ? body1Wrap : body0Wrap;
const btCollisionObjectWrapper* triBodyWrap = m_isSwapped ? body0Wrap : body1Wrap;
@@ -265,6 +267,7 @@ btScalar btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObj
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
{
BT_PROFILE("processTriangle");
(void)partId;
(void)triangleIndex;
//do a swept sphere for now