diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp')
-rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp | 20 |
1 files changed, 7 insertions, 13 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp index 9105fe20b49..cb830f889be 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp @@ -15,7 +15,7 @@ subject to the following restrictions: #include "btConvexConvexAlgorithm.h" -#include <stdio.h> +//#include <stdio.h> #include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h" #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" #include "BulletCollision/CollisionDispatch/btCollisionObject.h" @@ -33,7 +33,6 @@ subject to the following restrictions: -#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h" #include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h" #include "BulletCollision/CollisionShapes/btSphereShape.h" @@ -48,26 +47,16 @@ subject to the following restrictions: -btConvexConvexAlgorithm::CreateFunc::CreateFunc() -{ - m_ownsSolvers = true; - m_simplexSolver = new btVoronoiSimplexSolver(); - m_pdSolver = new btGjkEpaPenetrationDepthSolver; -} + btConvexConvexAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver) { - m_ownsSolvers = false; m_simplexSolver = simplexSolver; m_pdSolver = pdSolver; } btConvexConvexAlgorithm::CreateFunc::~CreateFunc() { - if (m_ownsSolvers){ - delete m_simplexSolver; - delete m_pdSolver; - } } btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver) @@ -152,6 +141,11 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl m_gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw); #endif + if (m_ownManifold) + { + resultOut->refreshContactPoints(); + } + } |