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, 24 insertions, 14 deletions
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp index 08cb3ed334d..386885d2ac8 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp @@ -20,6 +20,7 @@ subject to the following restrictions: btScalar gContactBreakingThreshold = btScalar(0.02); ContactDestroyedCallback gContactDestroyedCallback = 0; +ContactProcessedCallback gContactProcessedCallback = 0; @@ -27,20 +28,12 @@ btPersistentManifold::btPersistentManifold() :m_body0(0), m_body1(0), m_cachedPoints (0), -m_index1(0) +m_index1a(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> @@ -169,7 +162,7 @@ int btPersistentManifold::getCacheEntry(const btManifoldPoint& newPoint) const return nearestPoint; } -void btPersistentManifold::AddManifoldPoint(const btManifoldPoint& newPoint) +int btPersistentManifold::addManifoldPoint(const btManifoldPoint& newPoint) { assert(validContactDistance(newPoint)); @@ -182,7 +175,7 @@ void btPersistentManifold::AddManifoldPoint(const btManifoldPoint& newPoint) #else insertIndex = 0; #endif - + clearUserCache(m_pointCache[insertIndex]); } else { @@ -190,7 +183,9 @@ void btPersistentManifold::AddManifoldPoint(const btManifoldPoint& newPoint) } - replaceContactPoint(newPoint,insertIndex); + btAssert(m_pointCache[insertIndex].m_userPersistentData==0); + m_pointCache[insertIndex] = newPoint; + return insertIndex; } btScalar btPersistentManifold::getContactBreakingThreshold() const @@ -198,10 +193,20 @@ 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--) { @@ -232,6 +237,11 @@ 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); } } } |