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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)
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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/OpenGL/GLDebugDrawer.cpp
+1 -1
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@@ -68,7 +68,7 @@ void GLDebugDrawer::reportErrorWarning(const char* warningString)
void GLDebugDrawer::drawContactPoint(const btVector3& pointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)
{
if (m_debugMode & btIDebugDraw::DBG_DrawContactPoints)
{
btVector3 to=pointOnB+normalOnB*distance;
const btVector3&from = pointOnB;