diff options
Diffstat (limited to 'extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp')
| -rw-r--r-- | extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp | 12 |
1 files changed, 9 insertions, 3 deletions
diff --git a/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp b/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp index 5dac60a9e06..6a815cb3113 100644 --- a/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp +++ b/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp @@ -83,6 +83,8 @@ void BoxTriangleCallback::ProcessTriangle(SimdVector3* triangle) if (m_boxProxy->IsConvexShape()) { TriangleShape tm(triangle[0],triangle[1],triangle[2]); + tm.SetMargin(m_collisionMarginTriangle); + RigidBody* triangleBody = (RigidBody* )m_triangleProxy.m_clientObject; triangleBody->SetCollisionShape(&tm); @@ -97,11 +99,12 @@ void BoxTriangleCallback::ProcessTriangle(SimdVector3* triangle) -void BoxTriangleCallback::SetTimeStepAndCounters(float timeStep,int stepCount,bool useContinuous) +void BoxTriangleCallback::SetTimeStepAndCounters(float timeStep,int stepCount,float collisionMarginTriangle,bool useContinuous) { m_timeStep = timeStep; m_stepCount = stepCount; m_useContinuous = useContinuous; + m_collisionMarginTriangle = collisionMarginTriangle; //recalc aabbs RigidBody* boxBody = (RigidBody* )m_boxProxy->m_clientObject; @@ -141,8 +144,9 @@ void ConvexConcaveCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,Broadp if (m_convex.IsConvexShape()) { + float collisionMarginTriangle = triangleMesh->GetMargin(); - m_boxTriangleCallback.SetTimeStepAndCounters(timeStep,stepCount, useContinuous); + m_boxTriangleCallback.SetTimeStepAndCounters(timeStep,stepCount, collisionMarginTriangle,useContinuous); #ifdef USE_BOX_TRIANGLE m_boxTriangleCallback.m_manifoldPtr->ClearManifold(); #endif @@ -161,6 +165,8 @@ void ConvexConcaveCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,Broadp float ConvexConcaveCollisionAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* ,BroadphaseProxy* ,float timeStep,int stepCount) { + return 1.f; + //quick approximation using raycast, todo: use proper continuou collision detection RigidBody* convexbody = (RigidBody* )m_convex.m_clientObject; const SimdVector3& from = convexbody->getCenterOfMassPosition(); @@ -193,7 +199,7 @@ float ConvexConcaveCollisionAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* ,B RigidBody* concavebody = (RigidBody* )m_concave.m_clientObject; TriangleMeshShape* triangleMesh = (TriangleMeshShape*) concavebody->GetCollisionShape(); - + if (triangleMesh) { triangleMesh->ProcessAllTriangles(&raycastCallback,aabbMin,aabbMax); |