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logic bug in (de)activation/island management: deactivated 'fantom' objects do merge islands, in particular when connected by constraints. (fantom = object with collision detection but no collision response).

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erwin.coumans
2008-09-23 04:57:20 +00:00
parent 965ef932e9
commit d7b635cabf
2 changed files with 3 additions and 3 deletions
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2
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
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@@ -105,7 +105,7 @@ void btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* col
for (i=0;i<colWorld->getCollisionObjectArray().size();i++)
{
btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i];
if (collisionObject->mergesSimulationIslands())
if (!collisionObject->isStaticOrKinematicObject())
{
collisionObject->setIslandTag( m_unionFind.find(index) );
collisionObject->setCompanionId(-1);

4
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -688,8 +688,8 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands()
const btRigidBody* colObj0 = &constraint->getRigidBodyA();
const btRigidBody* colObj1 = &constraint->getRigidBodyB();
if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
((colObj1) && ((colObj1)->mergesSimulationIslands())))
if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
{
if (colObj0->isActive() || colObj1->isActive())
{