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Merge pull request #1112 from erwincoumans/master

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bump up setup.py pybullet pypi pip version to 1.0.2
This commit is contained in:
erwincoumans
2017-05-10 23:19:21 +00:00
committed by GitHub
parent fc6fb7b14c 53a82819a0
commit 9a80b529d8
11 changed files with 90 additions and 17 deletions
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3
src/BulletDynamics/Featherstone/btMultiBodyLink.h
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@@ -22,7 +22,8 @@ subject to the following restrictions:
enum btMultiBodyLinkFlags
{
BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION = 1
BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION = 1,
BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION = 2,
};
//both defines are now permanently enabled

40
src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
View File

@@ -74,15 +74,47 @@ public:
if (m_link>=0)
{
const btMultibodyLink& link = m_multiBody->getLink(this->m_link);
if ((link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION) && link.m_parent == other->m_link)
return false;
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)
{
if (parent_of_this==-1)
break;
parent_of_this = m_multiBody->getLink(parent_of_this).m_parent;
if (parent_of_this==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) && otherLink.m_parent == this->m_link)
return false;
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)
{
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;
}
}
}
return true;
}