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Merge pull request #1116 from olegklimov/master

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Rewrite collision filtering code for C API
This commit is contained in:
erwincoumans
2017-05-12 20:56:26 +00:00
committed by GitHub
parent 233717625b f4943c3ed5
commit 9356019572
2 changed files with 55 additions and 36 deletions
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35
src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
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@@ -4,8 +4,8 @@ Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
@@ -74,17 +74,12 @@ public:
if (m_link>=0)
{
const btMultibodyLink& link = m_multiBody->getLink(this->m_link);
if (link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
{
if ( link.m_parent == other->m_link)
return false;
}
if (link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION)
{
int parent_of_this = m_link;
while (1)
while (1)
{
if (parent_of_this==-1)
if (parent_of_this==-1)
break;
parent_of_this = m_multiBody->getLink(parent_of_this).m_parent;
if (parent_of_this==other->m_link)
@@ -93,28 +88,34 @@ public:
}
}
}
else if (link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
{
if ( link.m_parent == other->m_link)
return false;
}
}
if (other->m_link>=0)
{
const btMultibodyLink& otherLink = other->m_multiBody->getLink(other->m_link);
if (otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
{
if (otherLink.m_parent == this->m_link)
return false;
}
if (otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION)
{
int parent_of_other = other->m_link;
while (1)
while (1)
{
if (parent_of_other==-1)
if (parent_of_other==-1)
break;
parent_of_other = m_multiBody->getLink(parent_of_other).m_parent;
if (parent_of_other==this->m_link)
return false;
}
}
else if (otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
{
if (otherLink.m_parent == this->m_link)
return false;
}
}
return true;
}