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Merge pull request #2034 from erwincoumans/master

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Cleaning up the issue tracked with old/out-of-date/issues that haven't been addressed for too long.
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erwincoumans 2018-12-31 12:42:41 -08:00 committed by GitHub
commit 126b676220
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5 changed files with 22 additions and 14 deletions
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build3/premake5.exe
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11
src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
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@ -113,6 +113,12 @@ public:
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(m_compoundColObjWrap->getCollisionShape());
btAssert(index < compoundShape->getNumChildShapes());
if (gCompoundChildShapePairCallback)
{
if (!gCompoundChildShapePairCallback(m_otherObjWrap->getCollisionShape(), childShape))
return;
}
//backup
btTransform orgTrans = m_compoundColObjWrap->getWorldTransform();
@ -130,11 +136,6 @@ public:
btVector3 aabbMin1, aabbMax1;
m_otherObjWrap->getCollisionShape()->getAabb(m_otherObjWrap->getWorldTransform(), aabbMin1, aabbMax1);
if (gCompoundChildShapePairCallback)
{
if (!gCompoundChildShapePairCallback(m_otherObjWrap->getCollisionShape(), childShape))
return;
}
if (TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
{

15
src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp
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@ -50,10 +50,11 @@ public:
void get_plane_equation_transformed(const btTransform& trans, btVector4& equation) const
{
equation[0] = trans.getBasis().getRow(0).dot(m_planeNormal);
equation[1] = trans.getBasis().getRow(1).dot(m_planeNormal);
equation[2] = trans.getBasis().getRow(2).dot(m_planeNormal);
equation[3] = trans.getOrigin().dot(m_planeNormal) + m_planeConstant;
const btVector3 normal = trans.getBasis() * m_planeNormal;
equation[0] = normal[0];
equation[1] = normal[1];
equation[2] = normal[2];
equation[3] = normal.dot(trans * (m_planeConstant * m_planeNormal));
}
};
@ -821,6 +822,12 @@ void btGImpactCollisionAlgorithm::processCollision(const btCollisionObjectWrappe
gimpact_vs_shape(body1Wrap, body0Wrap, gimpactshape1, body0Wrap->getCollisionShape(), true);
}
// Ensure that gContactProcessedCallback is called for concave shapes.
if (getLastManifold())
{
m_resultOut->refreshContactPoints();
}
}
btScalar btGImpactCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)

2
src/BulletDynamics/Character/btKinematicCharacterController.cpp
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@ -737,7 +737,7 @@ void btKinematicCharacterController::playerStep(btCollisionWorld* collisionWorld
}
// quick check...
if (!m_useWalkDirection && (m_velocityTimeInterval <= 0.0))
if (!m_useWalkDirection && (m_velocityTimeInterval <= 0.0 || m_walkDirection.fuzzyZero()))
{
// printf("\n");
return; // no motion

8
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@ -918,9 +918,9 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
{
solverConstraint.m_appliedImpulse = cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
if (rb0)
bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1 * bodyA->internalGetInvMass() * rb0->getLinearFactor(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse);
bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1 * bodyA->internalGetInvMass(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse);
if (rb1)
bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2 * bodyB->internalGetInvMass() * rb1->getLinearFactor(), -solverConstraint.m_angularComponentB, -(btScalar)solverConstraint.m_appliedImpulse);
bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2 * bodyB->internalGetInvMass() , -solverConstraint.m_angularComponentB, -(btScalar)solverConstraint.m_appliedImpulse);
}
else
{
@ -990,9 +990,9 @@ void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse(btSolverC
{
frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor;
if (rb0)
bodyA->internalApplyImpulse(frictionConstraint1.m_contactNormal1 * rb0->getInvMass() * rb0->getLinearFactor(), frictionConstraint1.m_angularComponentA, frictionConstraint1.m_appliedImpulse);
bodyA->internalApplyImpulse(frictionConstraint1.m_contactNormal1 * rb0->getInvMass() , frictionConstraint1.m_angularComponentA, frictionConstraint1.m_appliedImpulse);
if (rb1)
bodyB->internalApplyImpulse(-frictionConstraint1.m_contactNormal2 * rb1->getInvMass() * rb1->getLinearFactor(), -frictionConstraint1.m_angularComponentB, -(btScalar)frictionConstraint1.m_appliedImpulse);
bodyB->internalApplyImpulse(-frictionConstraint1.m_contactNormal2 * rb1->getInvMass() , -frictionConstraint1.m_angularComponentB, -(btScalar)frictionConstraint1.m_appliedImpulse);
}
else
{