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Code Releases Wiki Activity

Update to bullet master (2.90)

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This commit is contained in:
PouleyKetchoupp
2020-04-27 10:15:23 +02:00
parent 43f0767390
commit 3e7db60d56
56 changed files with 4403 additions and 858 deletions
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12
thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp vendored
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@@ -14,7 +14,9 @@ subject to the following restrictions:
*/
//#define COMPUTE_IMPULSE_DENOM 1
//#define BT_ADDITIONAL_DEBUG
#ifdef BT_DEBUG
# define BT_ADDITIONAL_DEBUG
#endif
//It is not necessary (redundant) to refresh contact manifolds, this refresh has been moved to the collision algorithms.
@@ -690,8 +692,10 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
{
#if BT_THREADSAFE
int solverBodyId = -1;
bool isRigidBodyType = btRigidBody::upcast(&body) != NULL;
if (isRigidBodyType && !body.isStaticOrKinematicObject())
const bool isRigidBodyType = btRigidBody::upcast(&body) != NULL;
const bool isStaticOrKinematic = body.isStaticOrKinematicObject();
const bool isKinematic = body.isKinematicObject();
if (isRigidBodyType && !isStaticOrKinematic)
{
// dynamic body
// Dynamic bodies can only be in one island, so it's safe to write to the companionId
@@ -704,7 +708,7 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
body.setCompanionId(solverBodyId);
}
}
else if (isRigidBodyType && body.isKinematicObject())
else if (isRigidBodyType && isKinematic)
{
//
// NOTE: must test for kinematic before static because some kinematic objects also