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bugfix, also convert rigidbody into solverbodies for constraints (without contact manifolds), and do additional check for validity

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This commit is contained in:
ejcoumans
2007-03-17 08:29:05 +00:00
parent 5e5046404f
commit b8ce13adb1
1 changed files with 5 additions and 5 deletions
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10
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -373,7 +373,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
int sizeofSC = sizeof(btSolverConstraint);
if (numManifolds)
if (1)
{
//if m_stackAlloc, try to pack bodies/constraints to speed up solving
// btBlock* sablock;
@@ -674,22 +674,22 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
btTypedConstraint* constraint = constraints[j];
///todo: use solver bodies, so we don't need to copy from/to btRigidBody
if (constraint->getRigidBodyA().getIslandTag() >= 0)
if ((constraint->getRigidBodyA().getIslandTag() >= 0) && (constraint->getRigidBodyA().getCompanionId() >= 0))
{
tmpSolverBodyPool[constraint->getRigidBodyA().getCompanionId()].writebackVelocity();
}
if (constraint->getRigidBodyB().getIslandTag() >= 0)
if ((constraint->getRigidBodyB().getIslandTag() >= 0) && (constraint->getRigidBodyB().getCompanionId() >= 0))
{
tmpSolverBodyPool[constraint->getRigidBodyB().getCompanionId()].writebackVelocity();
}
constraint->solveConstraint(info.m_timeStep);
if (constraint->getRigidBodyA().getIslandTag() >= 0)
if ((constraint->getRigidBodyA().getIslandTag() >= 0) && (constraint->getRigidBodyA().getCompanionId() >= 0))
{
tmpSolverBodyPool[constraint->getRigidBodyA().getCompanionId()].readVelocity();
}
if (constraint->getRigidBodyB().getIslandTag() >= 0)
if ((constraint->getRigidBodyB().getIslandTag() >= 0) && (constraint->getRigidBodyB().getCompanionId() >= 0))
{
tmpSolverBodyPool[constraint->getRigidBodyB().getCompanionId()].readVelocity();
}