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some work on compound collision shapes (not finished yet)

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This commit is contained in:
ejcoumans
2006-07-24 05:22:56 +00:00
parent 60ce7413fe
commit fdaa3a7abc
8 changed files with 464 additions and 253 deletions
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18
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -26,7 +26,7 @@ subject to the following restrictions:
#include "CollisionShapes/SphereShape.h"
#include "CollisionShapes/ConeShape.h"
#include "CollisionShapes/StaticPlaneShape.h"
#include "CollisionShapes/CompoundShape.h"
#include "CollisionShapes/Simplex1to4Shape.h"
#include "CollisionShapes/EmptyShape.h"
@@ -126,7 +126,7 @@ CollisionShape* shapePtr[numShapes] =
#else
new BoxShape (SimdVector3(450,10,450)),
#endif
new BoxShape (SimdVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)),
new SphereShape (CUBE_HALF_EXTENTS- 0.05f),
@@ -205,8 +205,13 @@ int main(int argc,char** argv)
shapeIndex[i] = 0;
}
CompoundShape* compoundShape = new CompoundShape();
//shapePtr[1] = compoundShape;
SimdTransform ident;
ident.setIdentity();
compoundShape->AddChildShape(ident,new BoxShape (SimdVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
for (i=0;i<numObjects;i++)
{
@@ -498,8 +503,17 @@ void renderme()
char extraDebug[125];
sprintf(extraDebug,"islId, Body=%i , %i",physObjects[i]->GetRigidBody()->m_islandTag1,physObjects[i]->GetRigidBody()->m_debugBodyId);
physObjects[i]->GetRigidBody()->GetCollisionShape()->SetExtraDebugInfo(extraDebug);
float vec[16];
SimdTransform ident;
ident.setIdentity();
ident.getOpenGLMatrix(vec);
glPushMatrix();
glLoadMatrixf(vec);
GL_ShapeDrawer::DrawOpenGL(m,physObjects[i]->GetRigidBody()->GetCollisionShape(),wireColor,getDebugMode());
glPopMatrix();
///this block is just experimental code to show some internal issues with replacing shapes on the fly.
if (getDebugMode()!=0 && (i>0))
{