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fix kinematic objects, see Issue 652

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add m_rollingFriction to btRigidBody::btRigidBodyConstructionInfo
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erwin.coumans
2012-09-20 03:32:52 +00:00
parent 19583868a9
commit 59a29b1859
3 changed files with 7 additions and 1 deletions
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3
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -526,7 +526,8 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
} else
{
btRigidBody* rb = btRigidBody::upcast(&body);
if (rb && rb->getInvMass())
//convert both active and kinematic objects (for their velocity)
if (rb && (rb->getInvMass() || rb->isKinematicObject()))
{
solverBodyIdA = m_tmpSolverBodyPool.size();
btSolverBody& solverBody = m_tmpSolverBodyPool.expand();