diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp | 31 |
1 files changed, 17 insertions, 14 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp index 06adb3a04c8..24ceacfd40d 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp @@ -95,7 +95,7 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(triangle[0]),color); //btVector3 center = triangle[0] + triangle[1]+triangle[2]; - //center *= 0.333333f; + //center *= btScalar(0.333333); //m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(center),color); //m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(center),color); //m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(center),color); @@ -134,7 +134,7 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i -void btConvexTriangleCallback::setTimeStepAndCounters(float collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) { m_dispatchInfoPtr = &dispatchInfo; m_collisionMarginTriangle = collisionMarginTriangle; @@ -146,7 +146,7 @@ void btConvexTriangleCallback::setTimeStepAndCounters(float collisionMarginTrian btCollisionShape* convexShape = static_cast<btCollisionShape*>(m_convexBody->getCollisionShape()); //CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape); convexShape->getAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax); - float extraMargin = collisionMarginTriangle; + btScalar extraMargin = collisionMarginTriangle; btVector3 extra(extraMargin,extraMargin,extraMargin); m_aabbMax += extra; @@ -176,7 +176,7 @@ void btConvexConcaveCollisionAlgorithm::processCollision (btCollisionObject* bod if (convexBody->getCollisionShape()->isConvex()) { - float collisionMarginTriangle = concaveShape->getMargin(); + btScalar collisionMarginTriangle = concaveShape->getMargin(); resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr); m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,resultOut); @@ -196,9 +196,10 @@ void btConvexConcaveCollisionAlgorithm::processCollision (btCollisionObject* bod } -float btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +btScalar btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) { - + (void)resultOut; + (void)dispatchInfo; btCollisionObject* convexbody = m_isSwapped ? body1 : body0; btCollisionObject* triBody = m_isSwapped ? body0 : body1; @@ -207,10 +208,10 @@ float btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject //only perform CCD above a certain threshold, this prevents blocking on the long run //because object in a blocked ccd state (hitfraction<1) get their linear velocity halved each frame... - float squareMot0 = (convexbody->getInterpolationWorldTransform().getOrigin() - convexbody->getWorldTransform().getOrigin()).length2(); + btScalar squareMot0 = (convexbody->getInterpolationWorldTransform().getOrigin() - convexbody->getWorldTransform().getOrigin()).length2(); if (squareMot0 < convexbody->getCcdSquareMotionThreshold()) { - return 1.f; + return btScalar(1.); } //const btVector3& from = convexbody->m_worldTransform.getOrigin(); @@ -227,11 +228,11 @@ float btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject btTransform m_ccdSphereToTrans; btTransform m_meshTransform; - float m_ccdSphereRadius; - float m_hitFraction; + btScalar m_ccdSphereRadius; + btScalar m_hitFraction; - LocalTriangleSphereCastCallback(const btTransform& from,const btTransform& to,float ccdSphereRadius,float hitFraction) + LocalTriangleSphereCastCallback(const btTransform& from,const btTransform& to,btScalar ccdSphereRadius,btScalar hitFraction) :m_ccdSphereFromTrans(from), m_ccdSphereToTrans(to), m_ccdSphereRadius(ccdSphereRadius), @@ -242,6 +243,8 @@ float btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex) { + (void)partId; + (void)triangleIndex; //do a swept sphere for now btTransform ident; ident.setIdentity(); @@ -276,11 +279,11 @@ float btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject rayAabbMin.setMin(convexToLocal.getOrigin()); btVector3 rayAabbMax = convexFromLocal.getOrigin(); rayAabbMax.setMax(convexToLocal.getOrigin()); - float ccdRadius0 = convexbody->getCcdSweptSphereRadius(); + btScalar ccdRadius0 = convexbody->getCcdSweptSphereRadius(); rayAabbMin -= btVector3(ccdRadius0,ccdRadius0,ccdRadius0); rayAabbMax += btVector3(ccdRadius0,ccdRadius0,ccdRadius0); - float curHitFraction = 1.f; //is this available? + btScalar curHitFraction = btScalar(1.); //is this available? LocalTriangleSphereCastCallback raycastCallback(convexFromLocal,convexToLocal, convexbody->getCcdSweptSphereRadius(),curHitFraction); @@ -304,6 +307,6 @@ float btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject } } - return 1.f; + return btScalar(1.); } |