diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp | 220 |
1 files changed, 99 insertions, 121 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp index fc37cf2e3c3..f80a0826fbf 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp @@ -16,7 +16,6 @@ subject to the following restrictions: #include "btDiscreteDynamicsWorld.h" - //collision detection #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" #include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h" @@ -54,8 +53,6 @@ subject to the following restrictions: -#include <algorithm> - btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver) @@ -63,7 +60,7 @@ btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOver m_constraintSolver(constraintSolver? constraintSolver: new btSequentialImpulseConstraintSolver), m_debugDrawer(0), m_gravity(0,-10,0), -m_localTime(1.f/60.f), +m_localTime(btScalar(1.)/btScalar(60.)), m_profileTimings(0) { m_islandManager = new btSimulationIslandManager(); @@ -81,10 +78,10 @@ btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld() delete m_constraintSolver; } -void btDiscreteDynamicsWorld::saveKinematicState(float timeStep) +void btDiscreteDynamicsWorld::saveKinematicState(btScalar timeStep) { - for (unsigned int i=0;i<m_collisionObjects.size();i++) + for (int i=0;i<m_collisionObjects.size();i++) { btCollisionObject* colObj = m_collisionObjects[i]; btRigidBody* body = btRigidBody::upcast(colObj); @@ -110,27 +107,27 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates() { //todo: iterate over awake simulation islands! - for (unsigned int i=0;i<m_collisionObjects.size();i++) + for ( int i=0;i<m_collisionObjects.size();i++) { btCollisionObject* colObj = m_collisionObjects[i]; if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe) { - btVector3 color(255.f,255.f,255.f); + btVector3 color(btScalar(255.),btScalar(255.),btScalar(255.)); switch(colObj->getActivationState()) { case ACTIVE_TAG: - color = btVector3(255.f,255.f,255.f); break; + color = btVector3(btScalar(255.),btScalar(255.),btScalar(255.)); break; case ISLAND_SLEEPING: - color = btVector3(0.f,255.f,0.f);break; + color = btVector3(btScalar(0.),btScalar(255.),btScalar(0.));break; case WANTS_DEACTIVATION: - color = btVector3(0.f,255.f,255.f);break; + color = btVector3(btScalar(0.),btScalar(255.),btScalar(255.));break; case DISABLE_DEACTIVATION: - color = btVector3(255.f,0.f,0.f);break; + color = btVector3(btScalar(255.),btScalar(0.),btScalar(0.));break; case DISABLE_SIMULATION: - color = btVector3(255.f,255.f,0.f);break; + color = btVector3(btScalar(255.),btScalar(255.),btScalar(0.));break; default: { - color = btVector3(255.f,0.f,0.f); + color = btVector3(btScalar(255.),btScalar(0.),btScalar(0.)); } }; @@ -139,7 +136,10 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates() btRigidBody* body = btRigidBody::upcast(colObj); if (body && body->getMotionState() && !body->isStaticOrKinematicObject()) { - if (body->getActivationState() != ISLAND_SLEEPING) + //we need to call the update at least once, even for sleeping objects + //otherwise the 'graphics' transform never updates properly + //so todo: add 'dirty' flag + //if (body->getActivationState() != ISLAND_SLEEPING) { btTransform interpolatedTransform; btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(), @@ -152,7 +152,7 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates() if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe) { - for (unsigned int i=0;i<this->m_vehicles.size();i++) + for ( int i=0;i<this->m_vehicles.size();i++) { for (int v=0;v<m_vehicles[i]->getNumWheels();v++) { @@ -188,7 +188,7 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates() } -int btDiscreteDynamicsWorld::stepSimulation( float timeStep,int maxSubSteps, float fixedTimeStep) +int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep) { int numSimulationSubSteps = 0; @@ -243,7 +243,7 @@ int btDiscreteDynamicsWorld::stepSimulation( float timeStep,int maxSubSteps, flo return numSimulationSubSteps; } -void btDiscreteDynamicsWorld::internalSingleStepSimulation(float timeStep) +void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) { startProfiling(timeStep); @@ -291,7 +291,7 @@ void btDiscreteDynamicsWorld::internalSingleStepSimulation(float timeStep) void btDiscreteDynamicsWorld::setGravity(const btVector3& gravity) { m_gravity = gravity; - for (unsigned int i=0;i<m_collisionObjects.size();i++) + for ( int i=0;i<m_collisionObjects.size();i++) { btCollisionObject* colObj = m_collisionObjects[i]; btRigidBody* body = btRigidBody::upcast(colObj); @@ -318,19 +318,19 @@ void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body) if (body->getCollisionShape()) { bool isDynamic = !(body->isStaticObject() || body->isKinematicObject()); - short collisionFilterGroup = isDynamic? btBroadphaseProxy::DefaultFilter : btBroadphaseProxy::StaticFilter; - short collisionFilterMask = isDynamic? btBroadphaseProxy::AllFilter : btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter; + short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter); + short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter); addCollisionObject(body,collisionFilterGroup,collisionFilterMask); } } -void btDiscreteDynamicsWorld::updateVehicles(float timeStep) +void btDiscreteDynamicsWorld::updateVehicles(btScalar timeStep) { BEGIN_PROFILE("updateVehicles"); - for (unsigned int i=0;i<m_vehicles.size();i++) + for ( int i=0;i<m_vehicles.size();i++) { btRaycastVehicle* vehicle = m_vehicles[i]; vehicle->updateVehicle( timeStep); @@ -338,11 +338,11 @@ void btDiscreteDynamicsWorld::updateVehicles(float timeStep) END_PROFILE("updateVehicles"); } -void btDiscreteDynamicsWorld::updateActivationState(float timeStep) +void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep) { BEGIN_PROFILE("updateActivationState"); - for (unsigned int i=0;i<m_collisionObjects.size();i++) + for ( int i=0;i<m_collisionObjects.size();i++) { btCollisionObject* colObj = m_collisionObjects[i]; btRigidBody* body = btRigidBody::upcast(colObj); @@ -377,11 +377,7 @@ void btDiscreteDynamicsWorld::addConstraint(btTypedConstraint* constraint) void btDiscreteDynamicsWorld::removeConstraint(btTypedConstraint* constraint) { - std::vector<btTypedConstraint*>::iterator cit = std::find(m_constraints.begin(),m_constraints.end(),constraint); - if (!(cit==m_constraints.end())) - { - m_constraints.erase(cit); - } + m_constraints.remove(constraint); } void btDiscreteDynamicsWorld::addVehicle(btRaycastVehicle* vehicle) @@ -391,11 +387,7 @@ void btDiscreteDynamicsWorld::addVehicle(btRaycastVehicle* vehicle) void btDiscreteDynamicsWorld::removeVehicle(btRaycastVehicle* vehicle) { - std::vector<btRaycastVehicle*>::iterator vit = std::find(m_vehicles.begin(),m_vehicles.end(),vehicle); - if (!(vit==m_vehicles.end())) - { - m_vehicles.erase(vit); - } + m_vehicles.remove(vehicle); } inline int btGetConstraintIslandId(const btTypedConstraint* lhs) @@ -409,19 +401,26 @@ inline int btGetConstraintIslandId(const btTypedConstraint* lhs) } -static bool btSortConstraintOnIslandPredicate(const btTypedConstraint* lhs, const btTypedConstraint* rhs) + +class btSortConstraintOnIslandPredicate { - int rIslandId0,lIslandId0; - rIslandId0 = btGetConstraintIslandId(rhs); - lIslandId0 = btGetConstraintIslandId(lhs); - return lIslandId0 < rIslandId0; -} + public: + + bool operator() ( const btTypedConstraint* lhs, const btTypedConstraint* rhs ) + { + int rIslandId0,lIslandId0; + rIslandId0 = btGetConstraintIslandId(rhs); + lIslandId0 = btGetConstraintIslandId(lhs); + return lIslandId0 < rIslandId0; + } +}; + + + void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) { - BEGIN_PROFILE("solveConstraints"); - struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback { @@ -430,7 +429,7 @@ void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) btTypedConstraint** m_sortedConstraints; int m_numConstraints; btIDebugDraw* m_debugDrawer; - + btStackAlloc* m_stackAlloc; InplaceSolverIslandCallback( @@ -438,17 +437,25 @@ void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) btConstraintSolver* solver, btTypedConstraint** sortedConstraints, int numConstraints, - btIDebugDraw* debugDrawer) + btIDebugDraw* debugDrawer, + btStackAlloc* stackAlloc) :m_solverInfo(solverInfo), m_solver(solver), m_sortedConstraints(sortedConstraints), m_numConstraints(numConstraints), - m_debugDrawer(debugDrawer) + m_debugDrawer(debugDrawer), + m_stackAlloc(stackAlloc) { } - virtual void ProcessIsland(btPersistentManifold** manifolds,int numManifolds, int islandId) + InplaceSolverIslandCallback& operator=(InplaceSolverIslandCallback& other) + { + btAssert(0); + (void)other; + return *this; + } + virtual void ProcessIsland(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifolds,int numManifolds, int islandId) { //also add all non-contact constraints/joints for this island btTypedConstraint** startConstraint = 0; @@ -473,36 +480,35 @@ void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) } } - m_solver->solveGroup( manifolds, numManifolds,startConstraint,numCurConstraints,m_solverInfo,m_debugDrawer); + m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,m_solverInfo,m_debugDrawer,m_stackAlloc); } }; - - - - //sorted version of all btTypedConstraint, based on islandId - std::vector<btTypedConstraint*> sortedConstraints; + btAlignedObjectArray<btTypedConstraint*> sortedConstraints; sortedConstraints.resize( m_constraints.size()); int i; for (i=0;i<getNumConstraints();i++) { sortedConstraints[i] = m_constraints[i]; } + +// assert(0); + - std::sort(sortedConstraints.begin(),sortedConstraints.end(),btSortConstraintOnIslandPredicate); + + sortedConstraints.heapSort(btSortConstraintOnIslandPredicate()); btTypedConstraint** constraintsPtr = getNumConstraints() ? &sortedConstraints[0] : 0; - InplaceSolverIslandCallback solverCallback( solverInfo, m_constraintSolver, constraintsPtr,sortedConstraints.size(), m_debugDrawer); + InplaceSolverIslandCallback solverCallback( solverInfo, m_constraintSolver, constraintsPtr,sortedConstraints.size(), m_debugDrawer,m_stackAlloc); /// solve all the constraints for this island m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld()->getCollisionObjectArray(),&solverCallback); - END_PROFILE("solveConstraints"); } @@ -545,37 +551,6 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands() } -static void DrawAabb(btIDebugDraw* debugDrawer,const btVector3& from,const btVector3& to,const btVector3& color) -{ - - btVector3 halfExtents = (to-from)* 0.5f; - btVector3 center = (to+from) *0.5f; - int i,j; - - btVector3 edgecoord(1.f,1.f,1.f),pa,pb; - for (i=0;i<4;i++) - { - for (j=0;j<3;j++) - { - pa = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1], - edgecoord[2]*halfExtents[2]); - pa+=center; - - int othercoord = j%3; - edgecoord[othercoord]*=-1.f; - pb = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1], - edgecoord[2]*halfExtents[2]); - pb+=center; - - debugDrawer->drawLine(pa,pb,color); - } - edgecoord = btVector3(-1.f,-1.f,-1.f); - if (i<3) - edgecoord[i]*=-1.f; - } - - -} void btDiscreteDynamicsWorld::updateAabbs() { @@ -583,7 +558,7 @@ void btDiscreteDynamicsWorld::updateAabbs() btVector3 colorvec(1,0,0); btTransform predictedTrans; - for (unsigned int i=0;i<m_collisionObjects.size();i++) + for ( int i=0;i<m_collisionObjects.size();i++) { btCollisionObject* colObj = m_collisionObjects[i]; @@ -594,34 +569,33 @@ void btDiscreteDynamicsWorld::updateAabbs() { btPoint3 minAabb,maxAabb; colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb); - btSimpleBroadphase* bp = (btSimpleBroadphase*)m_broadphasePairCache; + btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache; //moving objects should be moderately sized, probably something wrong if not - if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < 1e12f)) + if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < btScalar(1e12))) { bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb); } else { //something went wrong, investigate //this assert is unwanted in 3D modelers (danger of loosing work) - assert(0); body->setActivationState(DISABLE_SIMULATION); static bool reportMe = true; - if (reportMe) + if (reportMe && m_debugDrawer) { reportMe = false; - printf("Overflow in AABB, object removed from simulation \n"); - printf("If you can reproduce this, please email bugs@continuousphysics.com\n"); - printf("Please include above information, your Platform, version of OS.\n"); - printf("Thanks.\n"); + m_debugDrawer->reportErrorWarning("Overflow in AABB, object removed from simulation"); + m_debugDrawer->reportErrorWarning("If you can reproduce this, please email bugs@continuousphysics.com\n"); + m_debugDrawer->reportErrorWarning("Please include above information, your Platform, version of OS.\n"); + m_debugDrawer->reportErrorWarning("Thanks.\n"); } } if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb)) { - DrawAabb(m_debugDrawer,minAabb,maxAabb,colorvec); + m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec); } } } @@ -630,11 +604,11 @@ void btDiscreteDynamicsWorld::updateAabbs() END_PROFILE("updateAabbs"); } -void btDiscreteDynamicsWorld::integrateTransforms(float timeStep) +void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep) { BEGIN_PROFILE("integrateTransforms"); btTransform predictedTrans; - for (unsigned int i=0;i<m_collisionObjects.size();i++) + for ( int i=0;i<m_collisionObjects.size();i++) { btCollisionObject* colObj = m_collisionObjects[i]; btRigidBody* body = btRigidBody::upcast(colObj); @@ -652,10 +626,10 @@ void btDiscreteDynamicsWorld::integrateTransforms(float timeStep) -void btDiscreteDynamicsWorld::predictUnconstraintMotion(float timeStep) +void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) { BEGIN_PROFILE("predictUnconstraintMotion"); - for (unsigned int i=0;i<m_collisionObjects.size();i++) + for ( int i=0;i<m_collisionObjects.size();i++) { btCollisionObject* colObj = m_collisionObjects[i]; btRigidBody* body = btRigidBody::upcast(colObj); @@ -676,8 +650,9 @@ void btDiscreteDynamicsWorld::predictUnconstraintMotion(float timeStep) } -void btDiscreteDynamicsWorld::startProfiling(float timeStep) +void btDiscreteDynamicsWorld::startProfiling(btScalar timeStep) { + (void)timeStep; #ifdef USE_QUICKPROF @@ -724,10 +699,10 @@ class DebugDrawcallback : public btTriangleCallback, public btInternalTriangleIn public: - DebugDrawcallback(btIDebugDraw* debugDrawer,const btTransform& worldTrans,const btVector3& color) - : m_debugDrawer(debugDrawer), - m_worldTrans(worldTrans), - m_color(color) + DebugDrawcallback(btIDebugDraw* debugDrawer,const btTransform& worldTrans,const btVector3& color) : + m_debugDrawer(debugDrawer), + m_color(color), + m_worldTrans(worldTrans) { } @@ -738,6 +713,9 @@ public: virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex) { + (void)partId; + (void)triangleIndex; + btVector3 wv0,wv1,wv2; wv0 = m_worldTrans*triangle[0]; wv1 = m_worldTrans*triangle[1]; @@ -771,7 +749,7 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform, case SPHERE_SHAPE_PROXYTYPE: { const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape); - float radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin + btScalar radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin btVector3 start = worldTransform.getOrigin(); getDebugDrawer()->drawLine(start,start+worldTransform.getBasis() * btVector3(radius,0,0),color); getDebugDrawer()->drawLine(start,start+worldTransform.getBasis() * btVector3(0,radius,0),color); @@ -783,13 +761,13 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform, case CONE_SHAPE_PROXYTYPE: { const btConeShape* coneShape = static_cast<const btConeShape*>(shape); - float radius = coneShape->getRadius();//+coneShape->getMargin(); - float height = coneShape->getHeight();//+coneShape->getMargin(); + btScalar radius = coneShape->getRadius();//+coneShape->getMargin(); + btScalar height = coneShape->getHeight();//+coneShape->getMargin(); btVector3 start = worldTransform.getOrigin(); - getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0.f,0.f,0.5f*height),start+worldTransform.getBasis() * btVector3(radius,0.f,-0.5f*height),color); - getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0.f,0.f,0.5f*height),start+worldTransform.getBasis() * btVector3(-radius,0.f,-0.5f*height),color); - getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0.f,0.f,0.5f*height),start+worldTransform.getBasis() * btVector3(0.f,radius,-0.5f*height),color); - getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0.f,0.f,0.5f*height),start+worldTransform.getBasis() * btVector3(0.f,-radius,-0.5f*height),color); + getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(btScalar(0.),btScalar(0.),btScalar(0.5)*height),start+worldTransform.getBasis() * btVector3(radius,btScalar(0.),btScalar(-0.5)*height),color); + getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(btScalar(0.),btScalar(0.),btScalar(0.5)*height),start+worldTransform.getBasis() * btVector3(-radius,btScalar(0.),btScalar(-0.5)*height),color); + getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(btScalar(0.),btScalar(0.),btScalar(0.5)*height),start+worldTransform.getBasis() * btVector3(btScalar(0.),radius,btScalar(-0.5)*height),color); + getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(btScalar(0.),btScalar(0.),btScalar(0.5)*height),start+worldTransform.getBasis() * btVector3(btScalar(0.),-radius,btScalar(-0.5)*height),color); break; } @@ -797,8 +775,8 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform, { const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape); int upAxis = cylinder->getUpAxis(); - float radius = cylinder->getRadius(); - float halfHeight = cylinder->getHalfExtents()[upAxis]; + btScalar radius = cylinder->getRadius(); + btScalar halfHeight = cylinder->getHalfExtents()[upAxis]; btVector3 start = worldTransform.getOrigin(); btVector3 offsetHeight(0,0,0); offsetHeight[upAxis] = halfHeight; @@ -814,12 +792,12 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform, if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE) { btTriangleMeshShape* concaveMesh = (btTriangleMeshShape*) shape; - //btVector3 aabbMax(1e30f,1e30f,1e30f); - //btVector3 aabbMax(100,100,100);//1e30f,1e30f,1e30f); + //btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30)); + //btVector3 aabbMax(100,100,100);//btScalar(1e30),btScalar(1e30),btScalar(1e30)); //todo pass camera, for some culling - btVector3 aabbMax(1e30f,1e30f,1e30f); - btVector3 aabbMin(-1e30f,-1e30f,-1e30f); + btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30)); + btVector3 aabbMin(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)); DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color); concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax); @@ -830,8 +808,8 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform, { btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape; //todo: pass camera for some culling - btVector3 aabbMax(1e30f,1e30f,1e30f); - btVector3 aabbMin(-1e30f,-1e30f,-1e30f); + btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30)); + btVector3 aabbMin(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)); //DebugDrawcallback drawCallback; DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color); convexMesh->getStridingMesh()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax); |