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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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4
src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
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@@ -39,6 +39,8 @@ m_btSoftBodyTriangleCallback(ci.m_dispatcher1,body0,body1,isSwapped)
{
}
btSoftBodyConcaveCollisionAlgorithm::~btSoftBodyConcaveCollisionAlgorithm()
{
}
@@ -161,7 +163,7 @@ btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
// btVector3 other;
btVector3 normal = (triangle[1]-triangle[0]).cross(triangle[2]-triangle[0]);
normal.normalize();
normal*= 0.3f;
normal*= 1.3f;
// other=(triangle[0]+triangle[1]+triangle[2])*0.333333f;
// other+=normal*22.f;
btVector3 pts[6] = {triangle[0]+normal,