Changeset 8284 for code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp

Timestamp:

Apr 21, 2011, 6:58:23 PM (14 years ago)

Author:

rgrieder

Message:

Merged revisions 7978 - 8096 from kicklib to kicklib2.

Location:

code/branches/kicklib2

Files:

• . (modified) (1 prop)
• src/external/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp (modified) (7 diffs)

code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp

@@ -115 +115 @@
         void    ProcessChildShape(btCollisionShape* childShape,int index)
         {
-                
+                btAssert(index>=0);
                 btCompoundShape* compoundShape = static_cast<btCompoundShape*>(m_compoundColObj->getCollisionShape());
+                btAssert(index<compoundShape->getNumChildShapes());
 
 
@@ -142 +143 @@
                         if (!m_childCollisionAlgorithms[index])
                                 m_childCollisionAlgorithms[index] = m_dispatcher->findAlgorithm(m_compoundColObj,m_otherObj,m_sharedManifold);
+
+                        ///detect swapping case
+                        if (m_resultOut->getBody0Internal() == m_compoundColObj)
+                        {
+                                m_resultOut->setShapeIdentifiersA(-1,index);
+                        } else
+                        {
+                                m_resultOut->setShapeIdentifiersB(-1,index);
+                        }
 
                         m_childCollisionAlgorithms[index]->processCollision(m_compoundColObj,m_otherObj,m_dispatchInfo,m_resultOut);
@@ -258 +268 @@
                 int i;
                 btManifoldArray manifoldArray;
-
+        btCollisionShape* childShape = 0;
+        btTransform     orgTrans;
+        btTransform     orgInterpolationTrans;
+        btTransform     newChildWorldTrans;
+        btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;        
+        
                 for (i=0;i<numChildren;i++)
                 {
                         if (m_childCollisionAlgorithms[i])
                         {
-                                btCollisionShape* childShape = compoundShape->getChildShape(i);
+                                childShape = compoundShape->getChildShape(i);
                         //if not longer overlapping, remove the algorithm
-                                btTransform     orgTrans = colObj->getWorldTransform();
-                                btTransform     orgInterpolationTrans = colObj->getInterpolationWorldTransform();
+                orgTrans = colObj->getWorldTransform();
+                orgInterpolationTrans = colObj->getInterpolationWorldTransform();
                                 const btTransform& childTrans = compoundShape->getChildTransform(i);
-                                btTransform     newChildWorldTrans = orgTrans*childTrans ;
+                newChildWorldTrans = orgTrans*childTrans ;
 
                                 //perform an AABB check first
-                                btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
                                 childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0);
                                 otherObj->getCollisionShape()->getAabb(otherObj->getWorldTransform(),aabbMin1,aabbMax1);
@@ -281 +295 @@
                                         m_childCollisionAlgorithms[i] = 0;
                                 }
-
                         }
-                        
-                }
-
-                
-
+                }
         }
 }
@@ -312 +321 @@
         int numChildren = m_childCollisionAlgorithms.size();
         int i;
+    btTransform orgTrans;
+    btScalar frac;
         for (i=0;i<numChildren;i++)
         {
@@ -318 +329 @@
 
                 //backup
-                btTransform     orgTrans = colObj->getWorldTransform();
+        orgTrans = colObj->getWorldTransform();
         
                 const btTransform& childTrans = compoundShape->getChildTransform(i);
@@ -326 +337 @@
                 btCollisionShape* tmpShape = colObj->getCollisionShape();
                 colObj->internalSetTemporaryCollisionShape( childShape );
-                btScalar frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj,otherObj,dispatchInfo,resultOut);
+        frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj,otherObj,dispatchInfo,resultOut);
                 if (frac<hitFraction)
                 {