diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp | 13 |
1 files changed, 11 insertions, 2 deletions
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp index 2f41b3c2757..9ee83e7d561 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp @@ -96,7 +96,7 @@ bool btContinuousConvexCollision::calcTimeOfImpact( { - btGjkPairDetector gjk(m_convexA,m_convexB,m_simplexSolver,m_penetrationDepthSolver); + btGjkPairDetector gjk(m_convexA,m_convexB,m_convexA->getShapeType(),m_convexB->getShapeType(),m_convexA->getMargin(),m_convexB->getMargin(),m_simplexSolver,m_penetrationDepthSolver); btGjkPairDetector::ClosestPointInput input; //we don't use margins during CCD @@ -121,6 +121,10 @@ bool btContinuousConvexCollision::calcTimeOfImpact( //not close enough while (dist > radius) { + if (result.m_debugDrawer) + { + result.m_debugDrawer->drawSphere(c,0.2f,btVector3(1,1,1)); + } numIter++; if (numIter > maxIter) { @@ -170,6 +174,11 @@ bool btContinuousConvexCollision::calcTimeOfImpact( btTransformUtil::integrateTransform(fromB,linVelB,angVelB,lambda,interpolatedTransB); relativeTrans = interpolatedTransB.inverseTimes(interpolatedTransA); + if (result.m_debugDrawer) + { + result.m_debugDrawer->drawSphere(interpolatedTransA.getOrigin(),0.2f,btVector3(1,0,0)); + } + result.DebugDraw( lambda ); btPointCollector pointCollector; @@ -197,6 +206,7 @@ bool btContinuousConvexCollision::calcTimeOfImpact( //?? return false; } + } @@ -224,4 +234,3 @@ bool btContinuousConvexCollision::calcTimeOfImpact( */ } - |