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combat friction drift in positionCorrect by changing velocity and change it back (effectively only changing position)

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This commit is contained in:
Xuchen Han
2019-07-23 12:15:23 -07:00
parent a90cad2a96
commit 243b9fc8c7
15 changed files with 291 additions and 152 deletions
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7
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
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@@ -233,7 +233,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisi
// printf("error in island management\n");
}
btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
// btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
if (colObj0->getIslandTag() == islandId)
{
if (colObj0->getActivationState() == ACTIVE_TAG ||
@@ -257,7 +257,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisi
// printf("error in island management\n");
}
btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
// btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
if (colObj0->getIslandTag() == islandId)
{
@@ -278,7 +278,8 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisi
// printf("error in island management\n");
}
btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
// btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
if (colObj0->getIslandTag() == islandId)
{