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constraint solver: fix bug in getOrInitSolverBody (threadsafe case only) for kinematic objects

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Lunkhound
2016-12-19 21:00:22 -08:00
parent a10244e1ab
commit 6d2c7b9aba
1 changed files with 16 additions and 13 deletions
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29
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -738,20 +738,12 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
} }
} }
} }
else if ( body.isStaticObject() ) else if (body.isKinematicObject())
{ {
// all fixed bodies (inf mass) get mapped to a single solver id //
if ( m_fixedBodyId < 0 ) // NOTE: must test for kinematic before static because some kinematic objects also
{ // identify as "static"
m_fixedBodyId = m_tmpSolverBodyPool.size(); //
btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
initSolverBody( &fixedBody, 0, timeStep );
}
solverBodyId = m_fixedBodyId;
}
else
{
// kinematic
// Kinematic bodies can be in multiple islands at once, so it is a // Kinematic bodies can be in multiple islands at once, so it is a
// race condition to write to them, so we use an alternate method // race condition to write to them, so we use an alternate method
// to record the solverBodyId // to record the solverBodyId
@@ -773,6 +765,17 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
m_kinematicBodyUniqueIdToSolverBodyTable[ uniqueId ] = solverBodyId; m_kinematicBodyUniqueIdToSolverBodyTable[ uniqueId ] = solverBodyId;
} }
} }
else
{
// all fixed bodies (inf mass) get mapped to a single solver id
if ( m_fixedBodyId < 0 )
{
m_fixedBodyId = m_tmpSolverBodyPool.size();
btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
initSolverBody( &fixedBody, 0, timeStep );
}
solverBodyId = m_fixedBodyId;
}
btAssert( solverBodyId < m_tmpSolverBodyPool.size() ); btAssert( solverBodyId < m_tmpSolverBodyPool.size() );
return solverBodyId; return solverBodyId;
#else // BT_THREADSAFE #else // BT_THREADSAFE