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reset the companion Id back to -1, because of a bug related to kinematic objects

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Thanks to Francois for the report. See Issue 652
This commit is contained in:
erwin.coumans
2012-09-20 11:32:27 +00:00
parent 5bba00dea4
commit 7494463be8
1 changed files with 12 additions and 23 deletions
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35
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -1555,36 +1555,25 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo
if (infoGlobal.m_splitImpulse) for ( i=0;i<m_tmpSolverBodyPool.size();i++)
{ {
for ( i=0;i<m_tmpSolverBodyPool.size();i++) btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody;
if (body)
{ {
btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody; if (infoGlobal.m_splitImpulse)
if (body)
{
m_tmpSolverBodyPool[i].writebackVelocityAndTransform(infoGlobal.m_timeStep, infoGlobal.m_splitImpulseTurnErp); m_tmpSolverBodyPool[i].writebackVelocityAndTransform(infoGlobal.m_timeStep, infoGlobal.m_splitImpulseTurnErp);
m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity(m_tmpSolverBodyPool[i].m_linearVelocity); else
m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity(m_tmpSolverBodyPool[i].m_angularVelocity); m_tmpSolverBodyPool[i].writebackVelocity();
m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity(m_tmpSolverBodyPool[i].m_linearVelocity);
m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity(m_tmpSolverBodyPool[i].m_angularVelocity);
if (infoGlobal.m_splitImpulse)
m_tmpSolverBodyPool[i].m_originalBody->setWorldTransform(m_tmpSolverBodyPool[i].m_worldTransform); m_tmpSolverBodyPool[i].m_originalBody->setWorldTransform(m_tmpSolverBodyPool[i].m_worldTransform);
} m_tmpSolverBodyPool[i].m_originalBody->setCompanionId(-1);
}
} else
{
for ( i=0;i<m_tmpSolverBodyPool.size();i++)
{
btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody;
if (body)
{
m_tmpSolverBodyPool[i].writebackVelocity();
m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity(m_tmpSolverBodyPool[i].m_linearVelocity);
m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity(m_tmpSolverBodyPool[i].m_angularVelocity);
}
} }
} }
m_tmpSolverContactConstraintPool.resizeNoInitialize(0); m_tmpSolverContactConstraintPool.resizeNoInitialize(0);
m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0); m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0);
m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(0); m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(0);