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- fixed Bullet noResponse/ghost mode

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- added ccd option (future use, very basic and inefficient)
- some internal Bullet refactoring/improvements
This commit is contained in:
Erwin Coumans
2006-04-28 00:08:18 +00:00
parent 2d6224a0d7
commit f51d1ef7d6
26 changed files with 1347 additions and 998 deletions
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23
extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.cpp vendored
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@@ -341,6 +341,11 @@ float ConvexConvexAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,Broad
CheckPenetrationDepthSolver();
//An adhoc way of testing the Continuous Collision Detection algorithms
//One object is approximated as a point, to simplify things
//Starting in penetration should report no time of impact
//For proper CCD, better accuracy and handling of 'allowed' penetration should be added
//also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies)
bool needsCollision = m_dispatcher->NeedsCollision(m_box0,m_box1);
@@ -351,21 +356,25 @@ float ConvexConvexAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,Broad
CollisionObject* col0 = static_cast<CollisionObject*>(m_box0.m_clientObject);
CollisionObject* col1 = static_cast<CollisionObject*>(m_box1.m_clientObject);
SphereShape sphere(0.f);
ConvexShape* min0 = static_cast<ConvexShape*>(col0->m_collisionShape);
ConvexShape* min1 = static_cast<ConvexShape*>(col1->m_collisionShape);
ConvexCast::CastResult result;
VoronoiSimplexSolver voronoiSimplex;
//SubsimplexConvexCast ccd(&voronoiSimplex);
//GjkConvexCast ccd(&voronoiSimplex);
ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,m_penetrationDepthSolver);
SubsimplexConvexCast ccd0(&sphere,min1,&voronoiSimplex);
///Simplification, one object is simplified as a sphere
GjkConvexCast ccd1(&sphere,min0,&voronoiSimplex);
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
if (disableCcd)
return 1.f;
if (ccd.calcTimeOfImpact(col0->m_worldTransform,col0->m_nextPredictedWorldTransform,
if (ccd1.calcTimeOfImpact(col0->m_worldTransform,col0->m_nextPredictedWorldTransform,
col1->m_worldTransform,col1->m_nextPredictedWorldTransform,result))
{
@@ -381,7 +390,9 @@ float ConvexConvexAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,Broad
}
return 1.f;
}