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remove warning, remove Jamfile from CMakeLists.txt, check for two static objects in solver.

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erwin.coumans
2010-02-20 21:12:50 +00:00
parent ceeb9392d9
commit 155254d448
2 changed files with 4 additions and 6 deletions
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8
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -646,10 +646,8 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
btRigidBody* solverBodyA = btRigidBody::upcast(colObj0);
btRigidBody* solverBodyB = btRigidBody::upcast(colObj1);
//??????????????????
// TODO : check InverseMass instead
///avoid collision response between two static objects
if (!solverBodyA && !solverBodyB)
if ((!solverBodyA || !solverBodyA->getInvMass()) && (!solverBodyB || !solverBodyB->getInvMass()))
return;
for (int j=0;j<manifold->getNumContacts();j++)
@@ -675,8 +673,8 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
setupContactConstraint(solverConstraint, colObj0, colObj1, cp, infoGlobal, vel, rel_vel, relaxation, rel_pos1, rel_pos2);
const btVector3& pos1 = cp.getPositionWorldOnA();
const btVector3& pos2 = cp.getPositionWorldOnB();
// const btVector3& pos1 = cp.getPositionWorldOnA();
// const btVector3& pos2 = cp.getPositionWorldOnB();
/////setup the friction constraints