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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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21
src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
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@@ -74,11 +74,6 @@ public:
if (m_link>=0) if (m_link>=0)
{ {
const btMultibodyLink& link = m_multiBody->getLink(this->m_link); 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) if (link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION)
{ {
int parent_of_this = m_link; int parent_of_this = m_link;
@@ -93,16 +88,17 @@ 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) if (other->m_link>=0)
{ {
const btMultibodyLink& otherLink = other->m_multiBody->getLink(other->m_link); 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) if (otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION)
{ {
int parent_of_other = other->m_link; int parent_of_other = other->m_link;
@@ -115,6 +111,11 @@ public:
return false; return false;
} }
} }
else if (otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
{
if (otherLink.m_parent == this->m_link)
return false;
}
} }
return true; return true;
} }