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add support for the <interpenetrate>, which disables collisions between two bodies linked by a constraint.

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This commit is contained in:
ejcoumans
2007-09-18 04:51:26 +00:00
parent 323eed2885
commit f7117466a2
3 changed files with 11 additions and 6 deletions
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9
Demos/ColladaDemo/ColladaConverter.cpp
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@@ -624,7 +624,8 @@ void ColladaConverter::prepareConstraints(ConstraintInput& input)
); );
} }
domBool interpenetrate = commonRef->getInterpenetrate()->getValue();
bool disableCollisionsBetweenLinkedBodies = interpenetrate;
//convert INF / -INF into lower > upper //convert INF / -INF into lower > upper
//currently there is a hack in the DOM to detect INF / -INF //currently there is a hack in the DOM to detect INF / -INF
@@ -681,7 +682,8 @@ void ColladaConverter::prepareConstraints(ConstraintInput& input)
linearLowerLimits, linearLowerLimits,
linearUpperLimits, linearUpperLimits,
angularLowerLimits, angularLowerLimits,
angularUpperLimits angularUpperLimits,
disableCollisionsBetweenLinkedBodies
); );
} else } else
{ {
@@ -693,7 +695,8 @@ void ColladaConverter::prepareConstraints(ConstraintInput& input)
linearLowerLimits, linearLowerLimits,
linearUpperLimits, linearUpperLimits,
angularLowerLimits, angularLowerLimits,
angularUpperLimits angularUpperLimits,
disableCollisionsBetweenLinkedBodies
); );
} }
} else } else

3
Demos/ColladaDemo/ColladaConverter.h
View File

@@ -75,7 +75,8 @@ public:
const btVector3& linearMinLimits, const btVector3& linearMinLimits,
const btVector3& linearMaxLimits, const btVector3& linearMaxLimits,
const btVector3& angularMinLimits, const btVector3& angularMinLimits,
const btVector3& angularMaxLimits const btVector3& angularMaxLimits,
bool disableCollisionsBetweenLinkedBodies
) = 0; ) = 0;
virtual btRigidBody* createRigidBody(bool isDynamic, virtual btRigidBody* createRigidBody(bool isDynamic,

5
Demos/ColladaDemo/ColladaDemo.cpp
View File

@@ -54,7 +54,8 @@ class MyColladaConverter : public ColladaConverter
const btVector3& linearMinLimits, const btVector3& linearMinLimits,
const btVector3& linearMaxLimits, const btVector3& linearMaxLimits,
const btVector3& angularMinLimits, const btVector3& angularMinLimits,
const btVector3& angularMaxLimits const btVector3& angularMaxLimits,
bool disableCollisionsBetweenLinkedBodies
) )
{ {
if (bodyRef) if (bodyRef)
@@ -78,7 +79,7 @@ class MyColladaConverter : public ColladaConverter
genericConstraint->setAngularLowerLimit(angularMinLimits); genericConstraint->setAngularLowerLimit(angularMinLimits);
genericConstraint->setAngularUpperLimit(angularMaxLimits); genericConstraint->setAngularUpperLimit(angularMaxLimits);
m_demoApp->getDynamicsWorld()->addConstraint( genericConstraint ); m_demoApp->getDynamicsWorld()->addConstraint( genericConstraint,disableCollisionsBetweenLinkedBodies );
return genericConstraint; return genericConstraint;
} }