Changeset 2882 for code/trunk/src/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp

Timestamp:

Mar 31, 2009, 8:05:51 PM (15 years ago)

Author:

rgrieder

Message:

Update from Bullet 2.73 to 2.74.

File:

• code/trunk/src/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp (modified) (5 diffs)

code/trunk/src/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp

@@ -53 +53 @@
                 {
                         m_doubleDispatch[i][j] = m_collisionConfiguration->getCollisionAlgorithmCreateFunc(i,j);
-                        assert(m_doubleDispatch[i][j]);
+                        btAssert(m_doubleDispatch[i][j]);
                 }
         }
@@ -80 +80 @@
         btCollisionObject* body1 = (btCollisionObject*)b1;
 
-        btScalar contactBreakingThreshold = btMin(gContactBreakingThreshold,btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold()));
-        
+        //test for Bullet 2.74: use a relative contact breaking threshold without clamping against 'gContactBreakingThreshold'
+        //btScalar contactBreakingThreshold = btMin(gContactBreakingThreshold,btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold()));
+        btScalar contactBreakingThreshold = btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold());
+
+        btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(),body1->getContactProcessingThreshold());
+                
         void* mem = 0;
         
@@ -92 +96 @@
 
         }
-        btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0,contactBreakingThreshold);
+        btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0,contactBreakingThreshold,contactProcessingThreshold);
         manifold->m_index1a = m_manifoldsPtr.size();
         m_manifoldsPtr.push_back(manifold);
@@ -143 +147 @@
         return algo;
 }
-
 
 
@@ -161 +164 @@
 bool    btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionObject* body1)
 {
-        assert(body0);
-        assert(body1);
+        btAssert(body0);
+        btAssert(body1);
 
         bool needsCollision = true;