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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
Download Patch File Download Diff File Expand all files Collapse all files

9
src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
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@@ -41,6 +41,15 @@ public:
virtual ~btBoxBoxCollisionAlgorithm();
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
{
if (m_manifoldPtr && m_ownManifold)
{
manifoldArray.push_back(m_manifoldPtr);
}
}
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)

9
src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
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@@ -44,6 +44,15 @@ public:
btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
{
int i;
for (i=0;i<m_childCollisionAlgorithms.size();i++)
{
m_childCollisionAlgorithms[i]->getAllContactManifolds(manifoldArray);
}
}
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)

7
src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
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@@ -37,6 +37,13 @@ btConvexConcaveCollisionAlgorithm::~btConvexConcaveCollisionAlgorithm()
{
}
void btConvexConcaveCollisionAlgorithm::getAllContactManifolds(btManifoldArray& manifoldArray)
{
if (m_btConvexTriangleCallback.m_manifoldPtr)
{
manifoldArray.push_back(m_btConvexTriangleCallback.m_manifoldPtr);
}
}
btConvexTriangleCallback::btConvexTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped):

2
src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
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@@ -88,6 +88,8 @@ public:
btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void getAllContactManifolds(btManifoldArray& manifoldArray);
void clearCache();
struct CreateFunc :public btCollisionAlgorithmCreateFunc

8
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
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@@ -47,6 +47,14 @@ public:
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
{
///should we use m_ownManifold to avoid adding duplicates?
if (m_manifoldPtr && m_ownManifold)
manifoldArray.push_back(m_manifoldPtr);
}
void setLowLevelOfDetail(bool useLowLevel);

8
src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
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@@ -42,6 +42,14 @@ public:
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
{
if (m_manifoldPtr && m_ownManifold)
{
manifoldArray.push_back(m_manifoldPtr);
}
}
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)

4
src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h
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@@ -34,6 +34,10 @@ public:
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
{
}
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)

8
src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h
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@@ -42,6 +42,14 @@ public:
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
{
if (m_manifoldPtr && m_ownManifold)
{
manifoldArray.push_back(m_manifoldPtr);
}
}
btScalar getSphereDistance( btCollisionObject* boxObj,btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius );
btScalar getSpherePenetration( btCollisionObject* boxObj, btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax);

7
src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h
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@@ -41,6 +41,13 @@ public:
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
{
if (m_manifoldPtr && m_ownManifold)
{
manifoldArray.push_back(m_manifoldPtr);
}
}
virtual ~btSphereSphereCollisionAlgorithm();

7
src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
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@@ -41,6 +41,13 @@ public:
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
{
if (m_manifoldPtr && m_ownManifold)
{
manifoldArray.push_back(m_manifoldPtr);
}
}
virtual ~btSphereTriangleCollisionAlgorithm();