diff options
| author | Erwin Coumans <blender@erwincoumans.com> | 2011-03-29 22:44:18 +0400 |
|---|---|---|
| committer | Erwin Coumans <blender@erwincoumans.com> | 2011-03-29 22:44:18 +0400 |
| commit | 952aa9804f0edb1e96d363f6dfb3349310a88e93 (patch) | |
| tree | e782080c21d617ee58e459c2f2bc6bb5539a060f /extern | |
| parent | 973ce364a43688c3a93653358c75ad4f533e7346 (diff) | |
fixes in Bullet stuff, roll influence for raycast vehicles was broken,
enable the setPhysicsTicRate for BGE Python
Diffstat (limited to 'extern')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp | 9 | ||||
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp | 2 |
2 files changed, 6 insertions, 5 deletions
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp index 1a561957368..8af16b9cf6f 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp @@ -254,20 +254,21 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu } #endif // - m_cachedSeparatingAxis = newCachedSeparatingAxis; //redundant m_simplexSolver->compute_points(pointOnA, pointOnB); //are we getting any closer ? if (previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance) { - m_simplexSolver->backup_closest(m_cachedSeparatingAxis); +// m_simplexSolver->backup_closest(m_cachedSeparatingAxis); checkSimplex = true; m_degenerateSimplex = 12; break; } + m_cachedSeparatingAxis = newCachedSeparatingAxis; + //degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject if (m_curIter++ > gGjkMaxIter) { @@ -294,7 +295,7 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu if (!check) { //do we need this backup_closest here ? - m_simplexSolver->backup_closest(m_cachedSeparatingAxis); +// m_simplexSolver->backup_closest(m_cachedSeparatingAxis); m_degenerateSimplex = 13; break; } @@ -303,7 +304,7 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu if (checkSimplex) { m_simplexSolver->compute_points(pointOnA, pointOnB); - normalInB = pointOnA-pointOnB; + normalInB = m_cachedSeparatingAxis; btScalar lenSqr =m_cachedSeparatingAxis.length2(); //valid normal diff --git a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp index 345dca6a11c..5b467883d84 100644 --- a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp +++ b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp @@ -698,7 +698,7 @@ void btRaycastVehicle::updateFriction(btScalar timeStep) btVector3 sideImp = m_axle[wheel] * m_sideImpulse[wheel]; #if defined ROLLING_INFLUENCE_FIX // fix. It only worked if car's up was along Y - VT. - btVector3 vChassisWorldUp = getRigidBody()->getCenterOfMassTransform().getBasis().getColumn(1); + btVector3 vChassisWorldUp = getRigidBody()->getCenterOfMassTransform().getBasis().getColumn(m_indexUpAxis); rel_pos -= vChassisWorldUp * (vChassisWorldUp.dot(rel_pos) * (1.f-wheelInfo.m_rollInfluence)); #else rel_pos[m_indexUpAxis] *= wheelInfo.m_rollInfluence; |