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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
2008-05-24 04:23:00 +00:00
parent 6141a55f09
commit f8e5481612
37 changed files with 889 additions and 633 deletions
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Demos/OpenGL/GLDebugDrawer.cpp
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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;