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

Merge pull request #1848 from erwincoumans/master

Browse Source 
more fixes related to islands
This commit is contained in:
erwincoumans
2018-08-27 08:50:46 -07:00
committed by GitHub
parent 8cac231890 2668b89740
commit 65175425b0
3 changed files with 10 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
examples/CommonInterfaces/CommonMultiBodyBase.h
View File

@@ -478,6 +478,12 @@ struct CommonMultiBodyBase : public CommonExampleInterface
if (m_pickedConstraint) if (m_pickedConstraint)
{ {
m_dynamicsWorld->removeConstraint(m_pickedConstraint); m_dynamicsWorld->removeConstraint(m_pickedConstraint);
if (m_pickedBody)
{
m_pickedBody->forceActivationState(ACTIVE_TAG);
m_pickedBody->activate(true);
}
delete m_pickedConstraint; delete m_pickedConstraint;
m_pickedConstraint = 0; m_pickedConstraint = 0;
m_pickedBody = 0; m_pickedBody = 0;

2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -2365,7 +2365,7 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_pairCache->setOverlapFilterCallback(m_data->m_broadphaseCollisionFilterCallback); m_data->m_pairCache->setOverlapFilterCallback(m_data->m_broadphaseCollisionFilterCallback);
int maxProxies = 32768; //int maxProxies = 32768;
//m_data->m_broadphase = new btSimpleBroadphase(maxProxies, m_data->m_pairCache); //m_data->m_broadphase = new btSimpleBroadphase(maxProxies, m_data->m_pairCache);
btDbvtBroadphase* bv = new btDbvtBroadphase(m_data->m_pairCache); btDbvtBroadphase* bv = new btDbvtBroadphase(m_data->m_pairCache);
bv->setVelocityPrediction(0); bv->setVelocityPrediction(0);

6
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
View File

@@ -455,8 +455,6 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
m_solverMultiBodyIslandCallback->setup(&solverInfo,constraintsPtr,m_sortedConstraints.size(),sortedMultiBodyConstraints,m_sortedMultiBodyConstraints.size(), getDebugDrawer()); m_solverMultiBodyIslandCallback->setup(&solverInfo,constraintsPtr,m_sortedConstraints.size(),sortedMultiBodyConstraints,m_sortedMultiBodyConstraints.size(), getDebugDrawer());
m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds()); m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());
/// solve all the constraints for this island
m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld(),m_solverMultiBodyIslandCallback);
#ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY #ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
{ {
@@ -691,7 +689,9 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
} }
} }
/// solve all the constraints for this island
m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback);
m_solverMultiBodyIslandCallback->processConstraints(); m_solverMultiBodyIslandCallback->processConstraints();