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fixed sphere-sphere collision: contact points were not properly removed/refreshed.

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This commit is contained in:
Erwin Coumans 2008-09-20 22:34:54 +00:00
parent a72b65011e
commit 877d70b14a
1 changed files with 9 additions and 2 deletions
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11
extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp vendored
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@ -56,11 +56,16 @@ void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0
btScalar radius0 = sphere0->getRadius();
btScalar radius1 = sphere1->getRadius();
//m_manifoldPtr->clearManifold(); //don't do this, it disables warmstarting
#ifdef CLEAR_MANIFOLD
m_manifoldPtr->clearManifold(); //don't do this, it disables warmstarting
#endif
///iff distance positive, don't generate a new contact
if ( len > (radius0+radius1))
{
#ifndef CLEAR_MANIFOLD
resultOut->refreshContactPoints();
#endif //CLEAR_MANIFOLD
return;
}
///distance (negative means penetration)
@ -82,7 +87,9 @@ void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0
resultOut->addContactPoint(normalOnSurfaceB,pos1,dist);
//no resultOut->refreshContactPoints(); needed, because of clearManifold (all points are new)
#ifndef CLEAR_MANIFOLD
resultOut->refreshContactPoints();
#endif //CLEAR_MANIFOLD
}