ilikecats/stk-code_catmod
1
1
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Improved fix for 2522 by using isStaticOrKinematicObject() function

Browse Source 
(instead of accessing the rigid body). This separates collision
and dynamic handling of bullet again.
This commit is contained in:
hiker 2016-06-27 07:48:30 +10:00
parent 0eb4ca2abd
commit 431ed63da2
2 changed files with 12 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
lib/bullet/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
View File

@ -20,7 +20,6 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btCollisionObject.h" #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionDispatch/btManifoldResult.h" #include "BulletCollision/CollisionDispatch/btManifoldResult.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h" #include "BulletCollision/CollisionShapes/btTriangleShape.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
SphereTriangleDetector::SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle,btScalar contactBreakingThreshold) SphereTriangleDetector::SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle,btScalar contactBreakingThreshold)
@ -59,15 +58,15 @@ void SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Res
if(mani) if(mani)
{ {
// Find the triangle: // Find the triangle:
const btCollisionObject *b = mani->getBody0Internal(); const btCollisionObject *co = mani->getBody0Internal();
const btTriangleShape *tri = dynamic_cast<const btTriangleShape*>(b->getCollisionShape()); const btTriangleShape *tri = dynamic_cast<const btTriangleShape*>(co->getCollisionShape());
if(!tri) if(!tri)
{ {
b = mani->getBody1Internal(); co = mani->getBody1Internal();
tri = dynamic_cast<const btTriangleShape*>(b->getCollisionShape()); tri = dynamic_cast<const btTriangleShape*>(co->getCollisionShape());
} }
// If we have a triangle and it is static (mass=0), recompute the normal // If we have a triangle and it is static, recompute the normal
if(tri && btRigidBody::upcast(b)->getInvMass()==0) if(tri && co->isStaticOrKinematicObject())
{ {
normal = (tri->m_vertices1[1]-tri->m_vertices1[0]) normal = (tri->m_vertices1[1]-tri->m_vertices1[0])
.cross(tri->m_vertices1[2]-tri->m_vertices1[0]); .cross(tri->m_vertices1[2]-tri->m_vertices1[0]);

13
lib/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
View File

@ -20,7 +20,6 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btManifoldResult.h" #include "BulletCollision/CollisionDispatch/btManifoldResult.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h" #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h" #include "BulletCollision/CollisionShapes/btTriangleShape.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
@ -456,15 +455,15 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
if(mani) if(mani)
{ {
// Find the triangle: // Find the triangle:
const btCollisionObject *b = mani->getBody0Internal(); const btCollisionObject *co = mani->getBody0Internal();
const btTriangleShape *tri = dynamic_cast<const btTriangleShape*>(b->getCollisionShape()); const btTriangleShape *tri = dynamic_cast<const btTriangleShape*>(co->getCollisionShape());
if(!tri) if(!tri)
{ {
b = mani->getBody1Internal(); co = mani->getBody1Internal();
tri = dynamic_cast<const btTriangleShape*>(b->getCollisionShape()); tri = dynamic_cast<const btTriangleShape*>(co->getCollisionShape());
} }
// If we have a triangle and it is static (mass=0), recompute the normal // If we have a triangle and it is static, recompute the normal
if(tri && btRigidBody::upcast(b)->getInvMass()==0) if(tri && co->isStaticOrKinematicObject())
{ {
normalInB = (tri->m_vertices1[1]-tri->m_vertices1[0]) normalInB = (tri->m_vertices1[1]-tri->m_vertices1[0])
.cross(tri->m_vertices1[2]-tri->m_vertices1[0]); .cross(tri->m_vertices1[2]-tri->m_vertices1[0]);