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Added method to collect all persistent contact manifolds, given a btBroadphasePair (collision algorithm)

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virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
See Demos/CharacterDemo/CharacterDemo.cpp for example usage of getAllContactManifolds
Added btDbvtBroadphase to btBulletCollisionCommon.h headerfile
Enable soft body vs concave (albeit slow)
Improved contact point debug rendering (moved from constraint solver into debugDrawWorld)
This commit is contained in:
erwin.coumans committed 2008-05-24 04:23:00 +00:00
1 parent 6141a55f09
commit f8e5481612
37 files changed
+889 -633
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Demos/BspDemo/BspDemo.cpp
+5 -1
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@@ -147,7 +147,8 @@ void BspDemo::initPhysics(char* bspfilename)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
m_broadphase = new btAxisSweep3(worldMin,worldMax);
m_broadphase = new btDbvtBroadphase();
//m_broadphase = new btAxisSweep3(worldMin,worldMax);
//btOverlappingPairCache* broadphase = new btSimpleBroadphase();
m_solver = new btSequentialImpulseConstraintSolver();
//ConstraintSolver* solver = new OdeConstraintSolver;
@@ -235,6 +236,9 @@ void BspDemo::displayCallback(void) {
renderme();
//optional but useful: debug drawing
if (m_dynamicsWorld)
m_dynamicsWorld->debugDrawWorld();
glFlush();
glutSwapBuffers();