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Code Releases Wiki Activity

Update Bullet to the latest commit 126b676

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This commit is contained in:
Oussama
2019-01-03 14:26:51 +01:00
committed by Rémi Verschelde
parent a6722cf362
commit 22b7c9dfa8
612 changed files with 114715 additions and 103413 deletions
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32
thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp vendored
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@@ -13,7 +13,6 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#include "btSphereTriangleCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
@@ -21,15 +20,15 @@ subject to the following restrictions:
#include "SphereTriangleDetector.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool swapped)
: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
m_ownManifold(false),
m_manifoldPtr(mf),
m_swapped(swapped)
btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool swapped)
: btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
m_ownManifold(false),
m_manifoldPtr(mf),
m_swapped(swapped)
{
if (!m_manifoldPtr)
{
m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
m_ownManifold = true;
}
}
@@ -43,36 +42,35 @@ btSphereTriangleCollisionAlgorithm::~btSphereTriangleCollisionAlgorithm()
}
}
void btSphereTriangleCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btSphereTriangleCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* col0Wrap, const btCollisionObjectWrapper* col1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
{
if (!m_manifoldPtr)
return;
const btCollisionObjectWrapper* sphereObjWrap = m_swapped? col1Wrap : col0Wrap;
const btCollisionObjectWrapper* triObjWrap = m_swapped? col0Wrap : col1Wrap;
const btCollisionObjectWrapper* sphereObjWrap = m_swapped ? col1Wrap : col0Wrap;
const btCollisionObjectWrapper* triObjWrap = m_swapped ? col0Wrap : col1Wrap;
btSphereShape* sphere = (btSphereShape*)sphereObjWrap->getCollisionShape();
btTriangleShape* triangle = (btTriangleShape*)triObjWrap->getCollisionShape();
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut->setPersistentManifold(m_manifoldPtr);
SphereTriangleDetector detector(sphere,triangle, m_manifoldPtr->getContactBreakingThreshold()+ resultOut->m_closestPointDistanceThreshold);
SphereTriangleDetector detector(sphere, triangle, m_manifoldPtr->getContactBreakingThreshold() + resultOut->m_closestPointDistanceThreshold);
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);///@todo: tighter bounds
input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT); ///@todo: tighter bounds
input.m_transformA = sphereObjWrap->getWorldTransform();
input.m_transformB = triObjWrap->getWorldTransform();
bool swapResults = m_swapped;
detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw,swapResults);
detector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw, swapResults);
if (m_ownManifold)
resultOut->refreshContactPoints();
}
btScalar btSphereTriangleCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
btScalar btSphereTriangleCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0, btCollisionObject* col1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
{
(void)resultOut;
(void)dispatchInfo;