| --- src/cardynamics.cpp Mon Jan 19 23:26:36 1970 | |
| +++ src/cardynamics.cpp Mon Jan 19 23:26:36 1970 | |
| @@ -1791,23 +1791,29 @@ | |
| bool CARDYNAMICS::WheelContactCallback( | |
| btManifoldPoint& cp, | |
| - const btCollisionObject* colObj0, | |
| - int partId0, | |
| + const btCollisionObjectWrapper* col0, | |
| + int part0, | |
| int index0, | |
| - const btCollisionObject* colObj1, | |
| - int partId1, | |
| + const btCollisionObjectWrapper* col1, | |
| + int part1, | |
| int index1) | |
| { | |
| - // cars are fracture bodies, wheel is a cylinder shape | |
| - const btCollisionShape* shape = colObj0->getCollisionShape(); | |
| - if ((colObj0->getInternalType() & CO_FRACTURE_TYPE) && | |
| +#if (BT_BULLET_VERSION < 281) | |
| + const btCollisionObject* obj = col0; | |
| + const btCollisionShape* shape = obj->getCollisionShape(); | |
| + const btCollisionShape* rootshape = obj->getRootCollisionShape(); | |
| +#else | |
| + const btCollisionObject* obj = col0->getCollisionObject(); | |
| + const btCollisionShape* shape = col0->getCollisionShape(); | |
| + const btCollisionShape* rootshape = obj->getCollisionShape(); | |
| +#endif | |
| + if ((obj->getInternalType() & CO_FRACTURE_TYPE) && | |
| (shape->getShapeType() == CYLINDER_SHAPE_PROXYTYPE)) | |
| { | |
| - // is contact within contact patch? | |
| - const btCompoundShape* car = static_cast<const btCompoundShape*>(colObj0->getRootCollisionShape()); | |
| - const btCylinderShapeX* wheel = static_cast<const btCylinderShapeX*>(shape); | |
| - btVector3 contactPoint = cp.m_localPointA - car->getChildTransform(cp.m_index0).getOrigin(); | |
| - if (-direction::up.dot(contactPoint) > 0.5 * wheel->getRadius()) | |
| + const btCompoundShape* carshape = static_cast<const btCompoundShape*>(rootshape); | |
| + const btCylinderShapeX* wheelshape = static_cast<const btCylinderShapeX*>(shape); | |
| + btVector3 contactPoint = cp.m_localPointA - carshape->getChildTransform(cp.m_index0).getOrigin(); | |
| + if (-direction::up.dot(contactPoint) > 0.5 * wheelshape->getRadius()) | |
| { | |
| // break contact (hack) | |
| cp.m_normalWorldOnB = btVector3(0, 0, 0); | |
| --- src/cardynamics.h Mon Jan 19 23:26:36 1970 | |
| +++ src/cardynamics.h Mon Jan 19 23:26:36 1970 | |
| @@ -25,6 +25,12 @@ | |
| class FractureBody; | |
| class PTree; | |
| +#if (BT_BULLET_VERSION < 281) | |
| +#define btCollisionObjectWrapper btCollisionObject | |
| +#else | |
| +struct btCollisionObjectWrapper; | |
| +#endif | |
| + | |
| class CARDYNAMICS : public btActionInterface | |
| { | |
| friend class PERFORMANCE_TESTING; | |
| @@ -151,11 +157,11 @@ | |
| static bool WheelContactCallback( | |
| btManifoldPoint& cp, | |
| - const btCollisionObject* colObj0, | |
| - int partId0, | |
| + const btCollisionObjectWrapper* col0, | |
| + int part0, | |
| int index0, | |
| - const btCollisionObject* colObj1, | |
| - int partId1, | |
| + const btCollisionObjectWrapper* col1, | |
| + int part1, | |
| int index1); | |
| protected: | |
| --- src/dynamicsworld.cpp Mon Jan 19 23:26:36 1970 | |
| +++ src/dynamicsworld.cpp Mon Jan 19 23:26:36 1970 | |
| @@ -105,7 +105,7 @@ | |
| int patch_id = -1; | |
| const BEZIER * b = 0; | |
| const TRACKSURFACE * s = TRACKSURFACE::None(); | |
| - btCollisionObject * c = 0; | |
| + const btCollisionObject * c = 0; | |
| MyRayResultCallback ray(origin, p, caster); | |
| rayTest(origin, p, ray); | |
| @@ -221,6 +221,7 @@ | |
| void DynamicsWorld::fractureCallback() | |
| { | |
| +#if (BT_BULLET_VERSION < 281) | |
| m_activeConnections.resize(0); | |
| int numManifolds = getDispatcher()->getNumManifolds(); | |
| @@ -268,4 +269,5 @@ | |
| btRigidBody* child = body->updateConnection(con_id); | |
| if (child) addRigidBody(child); | |
| } | |
| +#endif | |
| } |