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only call buildIslands once for multibody in each timestep

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This commit is contained in:
Xuchen Han
2019-08-02 10:19:31 -07:00
parent f1e7ce9ce1
commit 3dc8abcf36
6 changed files with 20 additions and 10 deletions
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6
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 +278,7 @@ 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)