diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp | 38 |
1 files changed, 14 insertions, 24 deletions
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp index 386885d2ac8..08cb3ed334d 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp @@ -20,7 +20,6 @@ subject to the following restrictions: btScalar gContactBreakingThreshold = btScalar(0.02); ContactDestroyedCallback gContactDestroyedCallback = 0; -ContactProcessedCallback gContactProcessedCallback = 0; @@ -28,12 +27,20 @@ btPersistentManifold::btPersistentManifold() :m_body0(0), m_body1(0), m_cachedPoints (0), -m_index1a(0) +m_index1(0) { } - +void btPersistentManifold::clearManifold() +{ + int i; + for (i=0;i<m_cachedPoints;i++) + { + clearUserCache(m_pointCache[i]); + } + m_cachedPoints = 0; +} #ifdef DEBUG_PERSISTENCY #include <stdio.h> @@ -162,7 +169,7 @@ int btPersistentManifold::getCacheEntry(const btManifoldPoint& newPoint) const return nearestPoint; } -int btPersistentManifold::addManifoldPoint(const btManifoldPoint& newPoint) +void btPersistentManifold::AddManifoldPoint(const btManifoldPoint& newPoint) { assert(validContactDistance(newPoint)); @@ -175,7 +182,7 @@ int btPersistentManifold::addManifoldPoint(const btManifoldPoint& newPoint) #else insertIndex = 0; #endif - clearUserCache(m_pointCache[insertIndex]); + } else { @@ -183,9 +190,7 @@ int btPersistentManifold::addManifoldPoint(const btManifoldPoint& newPoint) } - btAssert(m_pointCache[insertIndex].m_userPersistentData==0); - m_pointCache[insertIndex] = newPoint; - return insertIndex; + replaceContactPoint(newPoint,insertIndex); } btScalar btPersistentManifold::getContactBreakingThreshold() const @@ -193,20 +198,10 @@ btScalar btPersistentManifold::getContactBreakingThreshold() const return gContactBreakingThreshold; } - - void btPersistentManifold::refreshContactPoints(const btTransform& trA,const btTransform& trB) { int i; -#ifdef DEBUG_PERSISTENCY - printf("refreshContactPoints posA = (%f,%f,%f) posB = (%f,%f,%f)\n", - trA.getOrigin().getX(), - trA.getOrigin().getY(), - trA.getOrigin().getZ(), - trB.getOrigin().getX(), - trB.getOrigin().getY(), - trB.getOrigin().getZ()); -#endif //DEBUG_PERSISTENCY + /// first refresh worldspace positions and distance for (i=getNumContacts()-1;i>=0;i--) { @@ -237,11 +232,6 @@ void btPersistentManifold::refreshContactPoints(const btTransform& trA,const btT if (distance2d > getContactBreakingThreshold()*getContactBreakingThreshold() ) { removeContactPoint(i); - } else - { - //contact point processed callback - if (gContactProcessedCallback) - (*gContactProcessedCallback)(manifoldPoint,m_body0,m_body1); } } } |