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Add support for generic 2d convex shapes, through wrapper class btConvex2dShape. See Bullet/Demos/Box2dDemo for example wrapping a btCylinderShape and 2d btConvexHullShape.

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Add some extra degeneracy debugging check in btGjkPairDetector
This commit is contained in:
erwin.coumans
2009-09-17 19:45:22 +00:00
parent 3da9c832ae
commit f65e829ca0
14 changed files with 657 additions and 50 deletions
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8
src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
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@@ -46,6 +46,8 @@ IMPLICIT_CONVEX_SHAPES_START_HERE,
UNIFORM_SCALING_SHAPE_PROXYTYPE,
MINKOWSKI_SUM_SHAPE_PROXYTYPE,
MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE,
BOX_2D_SHAPE_PROXYTYPE,
CONVEX_2D_SHAPE_PROXYTYPE,
CUSTOM_CONVEX_SHAPE_TYPE,
//concave shapes
CONCAVE_SHAPES_START_HERE,
@@ -152,6 +154,12 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
{
return (proxyType == STATIC_PLANE_PROXYTYPE);
}
static SIMD_FORCE_INLINE bool isConvex2d(int proxyType)
{
return (proxyType == BOX_2D_SHAPE_PROXYTYPE) || (proxyType == CONVEX_2D_SHAPE_PROXYTYPE);
}
}
;