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Add support for childshape index for btCompoundShape during ContactAddedCallback,

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see example in Bullet/Demos/ConvexDecompositionDemo
Removed some warnings
This commit is contained in:
erwin.coumans
2009-08-11 00:30:41 +00:00
parent f352cca5cf
commit d67aa861f2
40 changed files with 235 additions and 113 deletions
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12
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp
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@@ -93,10 +93,14 @@ bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( btVoronoiSimplexSolver& s
btScalar m_depth;
bool m_hasResult;
virtual void setShapeIdentifiers(int partId0,int index0, int partId1,int index1)
virtual void setShapeIdentifiersA(int partId0,int index0)
{
(void)partId0;
(void)index0;
}
virtual void setShapeIdentifiersB(int partId1,int index1)
{
(void)partId1;
(void)index1;
}
@@ -111,7 +115,7 @@ bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( btVoronoiSimplexSolver& s
//just take fixed number of orientation, and sample the penetration depth in that direction
btScalar minProj = btScalar(BT_LARGE_FLOAT);
btVector3 minNorm;
btVector3 minNorm(0.f,0.f,0.f);
btVector3 minVertex;
btVector3 minA,minB;
btVector3 seperatingAxisInA,seperatingAxisInB;
@@ -240,8 +244,8 @@ bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( btVoronoiSimplexSolver& s
seperatingAxisInA = (-norm)* transA.getBasis();
seperatingAxisInB = norm* transB.getBasis();
pInA = localGetSupportingVertexWithoutMargin(shapeTypeA, convexA, seperatingAxisInA,convexVertexDataA);//, NULL);
qInB = localGetSupportingVertexWithoutMargin(shapeTypeB, convexB, seperatingAxisInB,convexVertexDataB);//, NULL);
pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual( seperatingAxisInA);//, NULL);
qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);//, NULL);
// pInA = convexA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
// qInB = convexB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);