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more Bullet physics improvements, mainly stability and performance related.

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AddObjectActuator has new python method to immediately create objects (this allows to create multiple objects in 1 frame in different positions)
This commit is contained in:
Erwin Coumans
2006-04-01 03:30:15 +00:00
parent 63bc0b3847
commit 36fd42ac85
27 changed files with 231 additions and 150 deletions
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9
extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.cpp vendored
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@@ -167,8 +167,9 @@ void ConvexConvexAlgorithm::CheckPenetrationDepthSolver()
//
// box-box collision algorithm, for simplicity also applies resolution-impulse
//
void ConvexConvexAlgorithm ::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy* ,float timeStep,int stepCount, bool useContinuous)
void ConvexConvexAlgorithm ::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy* ,const DispatcherInfo& dispatchInfo)
{
if (!m_manifoldPtr)
return;
@@ -194,7 +195,7 @@ void ConvexConvexAlgorithm ::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy
MinkowskiSumShape expanded0(min0,&sphere);
MinkowskiSumShape expanded1(min1,&sphere);
if (useContinuous)
if (dispatchInfo.m_useContinuous)
{
m_gjkPairDetector.SetMinkowskiA(&expanded0);
m_gjkPairDetector.SetMinkowskiB(&expanded1);
@@ -214,12 +215,12 @@ void ConvexConvexAlgorithm ::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy
input.m_transformA = col0->m_worldTransform;
input.m_transformB = col1->m_worldTransform;
m_gjkPairDetector.GetClosestPoints(input,*resultOut);
m_gjkPairDetector.GetClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
m_dispatcher->ReleaseManifoldResult(resultOut);
}
bool disableCcd = false;
float ConvexConvexAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep,int stepCount)
float ConvexConvexAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo)
{
CheckPenetrationDepthSolver();