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Merge pull request #2620 from stephengold/master

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apply custom pair-cache filter to predictive contacts
This commit is contained in:
erwincoumans
2020-04-26 12:09:05 -07:00
committed by GitHub
parent 6985f06e5d abb2e4ee23
commit cd8cf7521c
2 changed files with 18 additions and 1 deletions
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11
src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
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@@ -61,7 +61,8 @@ public:
virtual void cleanOverlappingPair(btBroadphasePair& pair, btDispatcher* dispatcher) = 0;
virtual int getNumOverlappingPairs() const = 0;
virtual bool needsBroadphaseCollision(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1) const = 0;
virtual btOverlapFilterCallback* getOverlapFilterCallback() = 0;
virtual void cleanProxyFromPairs(btBroadphaseProxy* proxy, btDispatcher* dispatcher) = 0;
virtual void setOverlapFilterCallback(btOverlapFilterCallback* callback) = 0;
@@ -380,6 +381,14 @@ public:
{
}
bool needsBroadphaseCollision(btBroadphaseProxy*, btBroadphaseProxy*) const
{
return true;
}
btOverlapFilterCallback* getOverlapFilterCallback()
{
return 0;
}
virtual void setOverlapFilterCallback(btOverlapFilterCallback* /*callback*/)
{
}

8
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

@@ -800,6 +800,14 @@ public:
///don't do CCD when the collision filters are not matching
if (!ClosestConvexResultCallback::needsCollision(proxy0))
return false;
if (m_pairCache->getOverlapFilterCallback()) {
btBroadphaseProxy* proxy1 = m_me->getBroadphaseHandle();
bool collides = m_pairCache->needsBroadphaseCollision(proxy0, proxy1);
if (!collides)
{
return false;
}
}
btCollisionObject* otherObj = (btCollisionObject*)proxy0->m_clientObject;