diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp | 18 |
1 files changed, 8 insertions, 10 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp index f6c1e32ac7c..9a749a03793 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp @@ -19,9 +19,10 @@ subject to the following restrictions: #include "BulletCollision/CollisionShapes/btSphereShape.h" -SphereTriangleDetector::SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle) +SphereTriangleDetector::SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle,btScalar contactBreakingThreshold) :m_sphere(sphere), -m_triangle(triangle) +m_triangle(triangle), +m_contactBreakingThreshold(contactBreakingThreshold) { } @@ -40,7 +41,7 @@ void SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Res //move sphere into triangle space btTransform sphereInTr = transformB.inverseTimes(transformA); - if (collide(sphereInTr.getOrigin(),point,normal,depth,timeOfImpact)) + if (collide(sphereInTr.getOrigin(),point,normal,depth,timeOfImpact,m_contactBreakingThreshold)) { if (swapResults) { @@ -93,7 +94,7 @@ bool SphereTriangleDetector::facecontains(const btVector3 &p,const btVector3* ve } ///combined discrete/continuous sphere-triangle -bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact) +bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar contactBreakingThreshold) { const btVector3* vertices = &m_triangle->getVertexPtr(0); @@ -115,10 +116,7 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po normal *= btScalar(-1.); } - ///todo: move this gContactBreakingThreshold into a proper structure - extern btScalar gContactBreakingThreshold; - - btScalar contactMargin = gContactBreakingThreshold; + btScalar contactMargin = contactBreakingThreshold; bool isInsideContactPlane = distanceFromPlane < r + contactMargin; bool isInsideShellPlane = distanceFromPlane < r; @@ -140,8 +138,8 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po btVector3 nearestOnEdge; for (int i = 0; i < m_triangle->getNumEdges(); i++) { - btPoint3 pa; - btPoint3 pb; + btVector3 pa; + btVector3 pb; m_triangle->getEdge(i,pa,pb); |