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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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9
src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
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@@ -245,16 +245,18 @@ void btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,co
btStridingMeshInterface* m_meshInterface;
btTriangleCallback* m_callback;
btVector3 m_triangle[3];
int m_numOverlap;
MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface)
:m_meshInterface(meshInterface),
m_callback(callback)
m_callback(callback),
m_numOverlap(0)
{
}
virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
{
m_numOverlap++;
const unsigned char *vertexbase;
int numverts;
PHY_ScalarType type;
@@ -321,8 +323,7 @@ void btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,co
MyNodeOverlapCallback myNodeCallback(callback,m_meshInterface);
m_bvh->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
#endif//DISABLE_BVH