Changeset 7983 for code/branches/kicklib/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp

Timestamp:

Feb 27, 2011, 7:43:24 AM (14 years ago)

Author:

rgrieder

Message:

Updated Bullet Physics Engine from v2.74 to v2.77

File:

• code/branches/kicklib/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp (modified) (4 diffs)

code/branches/kicklib/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp

@@ -35 +35 @@
 
 btCollisionDispatcher::btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration): 
-        m_count(0),
-        m_useIslands(true),
-        m_staticWarningReported(false),
+m_dispatcherFlags(btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD),
         m_collisionConfiguration(collisionConfiguration)
 {
@@ -80 +78 @@
         btCollisionObject* body1 = (btCollisionObject*)b1;
 
-        //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());
+        //optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance)
+        
+        btScalar contactBreakingThreshold =  (m_dispatcherFlags & btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD) ? 
+                btMin(body0->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold) , body1->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold))
+                : gContactBreakingThreshold ;
 
         btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(),body1->getContactProcessingThreshold());
@@ -170 +170 @@
 
 #ifdef BT_DEBUG
-        if (!m_staticWarningReported)
+        if (!(m_dispatcherFlags & btCollisionDispatcher::CD_STATIC_STATIC_REPORTED))
         {
                 //broadphase filtering already deals with this
@@ -176 +176 @@
                         (body1->isStaticObject() || body1->isKinematicObject()))
                 {
-                        m_staticWarningReported = true;
+                        m_dispatcherFlags |= btCollisionDispatcher::CD_STATIC_STATIC_REPORTED;
                         printf("warning btCollisionDispatcher::needsCollision: static-static collision!\n");
                 }