Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Allow btBulletWorldImporter to convert/export a .bullet file to XML

Browse Source 
Add first version of btBulletXmlWorldImporter, still incomplete but it can read some files
Fix false assert in btSequentialImpulseConstraintSolver
This commit is contained in:
erwin.coumans
2012-09-21 22:47:11 +00:00
parent 7494463be8
commit 214579ec60
30 changed files with 8741 additions and 1552 deletions
Download Patch File Download Diff File Expand all files Collapse all files

56
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
View File

@@ -900,36 +900,40 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
m_maxOverrideNumSolverIterations = 0;
#ifdef BT_DEBUG
//make sure that dynamic bodies exist for all (enabled) constraints
for (int i=0;i<numConstraints;i++)
{
btTypedConstraint* constraint = constraints[i];
if (!constraint->getRigidBodyA().isStaticOrKinematicObject())
{
bool found=false;
for (int b=0;b<numBodies;b++)
{
if (constraint->isEnabled())
{
if (!constraint->getRigidBodyA().isStaticOrKinematicObject())
{
bool found=false;
for (int b=0;b<numBodies;b++)
{
if (&constraint->getRigidBodyA()==bodies[b])
{
found = true;
break;
}
}
btAssert(found);
}
if (!constraint->getRigidBodyB().isStaticOrKinematicObject())
{
bool found=false;
for (int b=0;b<numBodies;b++)
{
if (&constraint->getRigidBodyB()==bodies[b])
{
found = true;
break;
}
}
btAssert(found);
}
if (&constraint->getRigidBodyA()==bodies[b])
{
found = true;
break;
}
}
btAssert(found);
}
if (!constraint->getRigidBodyB().isStaticOrKinematicObject())
{
bool found=false;
for (int b=0;b<numBodies;b++)
{
if (&constraint->getRigidBodyB()==bodies[b])
{
found = true;
break;
}
}
btAssert(found);
}
}
}
//make sure that dynamic bodies exist for all contact manifolds
for (int i=0;i<numManifolds;i++)