diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp')
-rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp | 27 |
1 files changed, 16 insertions, 11 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp index 24ceacfd40d..6d28904cb03 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp @@ -29,7 +29,7 @@ subject to the following restrictions: btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1,bool isSwapped) : btCollisionAlgorithm(ci), m_isSwapped(isSwapped), -m_btConvexTriangleCallback(ci.m_dispatcher,body0,body1,isSwapped) +m_btConvexTriangleCallback(ci.m_dispatcher1,body0,body1,isSwapped) { } @@ -37,6 +37,13 @@ btConvexConcaveCollisionAlgorithm::~btConvexConcaveCollisionAlgorithm() { } +void btConvexConcaveCollisionAlgorithm::getAllContactManifolds(btManifoldArray& manifoldArray) +{ + if (m_btConvexTriangleCallback.m_manifoldPtr) + { + manifoldArray.push_back(m_btConvexTriangleCallback.m_manifoldPtr); + } +} btConvexTriangleCallback::btConvexTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped): @@ -79,7 +86,7 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i //aabb filter is already applied! btCollisionAlgorithmConstructionInfo ci; - ci.m_dispatcher = m_dispatcher; + ci.m_dispatcher1 = m_dispatcher; btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody); @@ -109,13 +116,11 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i { btTriangleShape tm(triangle[0],triangle[1],triangle[2]); tm.setMargin(m_collisionMarginTriangle); - btCollisionShape* tmpShape = ob->getCollisionShape(); - ob->setCollisionShape( &tm ); + ob->internalSetTemporaryCollisionShape( &tm ); - - btCollisionAlgorithm* colAlgo = ci.m_dispatcher->findAlgorithm(m_convexBody,m_triBody,m_manifoldPtr); + btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBody,m_triBody,m_manifoldPtr); ///this should use the btDispatcher, so the actual registered algorithm is used // btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody); @@ -123,12 +128,11 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i // cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex); // cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut); colAlgo->processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut); - delete colAlgo; - ob->setCollisionShape( tmpShape ); - + colAlgo->~btCollisionAlgorithm(); + ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo); + ob->internalSetTemporaryCollisionShape( tmpShape); } - } @@ -188,9 +192,10 @@ void btConvexConcaveCollisionAlgorithm::processCollision (btCollisionObject* bod concaveShape->processAllTriangles( &m_btConvexTriangleCallback,m_btConvexTriangleCallback.getAabbMin(),m_btConvexTriangleCallback.getAabbMax()); + resultOut->refreshContactPoints(); } - + } } |