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Fix self-collision code again (in case both flags are set)

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This commit is contained in:
Oleg Klimov
2017-05-11 14:29:42 +03:00
parent d755513146
commit f4943c3ed5
1 changed files with 18 additions and 17 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;
}