diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp')
-rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp | 19 |
1 files changed, 15 insertions, 4 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp index 05556bd34e2..1e4bbce451d 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp @@ -68,18 +68,25 @@ void btSphereBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,b btScalar dist = getSphereDistance(boxObj,pOnBox,pOnSphere,sphereCenter,radius); + resultOut->setPersistentManifold(m_manifoldPtr); + if (dist < SIMD_EPSILON) { btVector3 normalOnSurfaceB = (pOnBox- pOnSphere).normalize(); /// report a contact. internally this will be kept persistent, and contact reduction is done - resultOut->setPersistentManifold(m_manifoldPtr); resultOut->addContactPoint(normalOnSurfaceB,pOnBox,dist); } - + if (m_ownManifold) + { + if (m_manifoldPtr->getNumContacts()) + { + resultOut->refreshContactPoints(); + } + } } @@ -102,8 +109,8 @@ btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* box btVector3 bounds[2]; btBoxShape* boxShape= (btBoxShape*)boxObj->getCollisionShape(); - bounds[0] = -boxShape->getHalfExtents(); - bounds[1] = boxShape->getHalfExtents(); + bounds[0] = -boxShape->getHalfExtentsWithoutMargin(); + bounds[1] = boxShape->getHalfExtentsWithoutMargin(); margins = boxShape->getMargin();//also add sphereShape margin? @@ -209,6 +216,10 @@ btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btCollisionObject* btVector3 p0, tmp, prel, n[6], normal; btScalar fSep = btScalar(-10000000.0), fSepThis; + // set p0 and normal to a default value to shup up GCC + p0.setValue(btScalar(0.), btScalar(0.), btScalar(0.)); + normal.setValue(btScalar(0.), btScalar(0.), btScalar(0.)); + n[0].setValue( btScalar(-1.0), btScalar(0.0), btScalar(0.0) ); n[1].setValue( btScalar(0.0), btScalar(-1.0), btScalar(0.0) ); n[2].setValue( btScalar(0.0), btScalar(0.0), btScalar(-1.0) ); |