Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

35
src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
View File

@@ -4,8 +4,8 @@ Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty. 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. 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, Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely, including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions: 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. 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) 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;
while (1) while (1)
{ {
if (parent_of_this==-1) if (parent_of_this==-1)
break; break;
parent_of_this = m_multiBody->getLink(parent_of_this).m_parent; parent_of_this = m_multiBody->getLink(parent_of_this).m_parent;
if (parent_of_this==other->m_link) 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) 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;
while (1) while (1)
{ {
if (parent_of_other==-1) if (parent_of_other==-1)
break; break;
parent_of_other = m_multiBody->getLink(parent_of_other).m_parent; parent_of_other = m_multiBody->getLink(parent_of_other).m_parent;
if (parent_of_other==this->m_link) if (parent_of_other==this->m_link)
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;
} }