Changeset 7983 for code/branches/kicklib/src/external/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.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/NarrowPhaseCollision/btContinuousConvexCollision.cpp (modified) (5 diffs)

code/branches/kicklib/src/external/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp

@@ -97 +97 @@
         {
                 
-                btGjkPairDetector gjk(m_convexA,m_convexB,m_simplexSolver,m_penetrationDepthSolver);            
+                btGjkPairDetector gjk(m_convexA,m_convexB,m_convexA->getShapeType(),m_convexB->getShapeType(),m_convexA->getMargin(),m_convexB->getMargin(),m_simplexSolver,m_penetrationDepthSolver);          
                 btGjkPairDetector::ClosestPointInput input;
         
@@ -122 +122 @@
                 while (dist > radius)
                 {
+                        if (result.m_debugDrawer)
+                        {
+                                result.m_debugDrawer->drawSphere(c,0.2f,btVector3(1,1,1));
+                        }
                         numIter++;
                         if (numIter > maxIter)
@@ -170 +174 @@
                         btTransformUtil::integrateTransform(fromB,linVelB,angVelB,lambda,interpolatedTransB);
                         relativeTrans = interpolatedTransB.inverseTimes(interpolatedTransA);
+
+                        if (result.m_debugDrawer)
+                        {
+                                result.m_debugDrawer->drawSphere(interpolatedTransA.getOrigin(),0.2f,btVector3(1,0,0));
+                        }
 
                         result.DebugDraw( lambda );
@@ -198 +207 @@
                                 return false;
                         }
+                        
 
                 }
@@ -225 +235 @@
 
 }
-