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fix in box-box contact generation: choose better contact point location (along contact normal) when objects are swapped.

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move debugDrawWorld to btCollisionWorld.
improved CollisionInterfaceDemo, show how to perform a closest point query for objects that are not in the collision world.
removed a bit of garbage from the debug drawer
This commit is contained in:
erwin.coumans
2009-12-18 00:54:52 +00:00
parent 6425af9a6c
commit fcd2b93a22
7 changed files with 619 additions and 501 deletions
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4
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
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@@ -77,8 +77,7 @@ protected:
virtual void saveKinematicState(btScalar timeStep);
void debugDrawSphere(btScalar radius, const btTransform& transform, const btVector3& color);
public:
@@ -135,7 +134,6 @@ public:
///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
virtual void removeCollisionObject(btCollisionObject* collisionObject);
void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);
void debugDrawConstraint(btTypedConstraint* constraint);