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Code Issues Releases Wiki Activity

Enable an existing sanity check for BT_DEBUG builds.

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This commit is contained in:
stolk 2020-04-03 10:34:03 -07:00
parent b7ff35ae86
commit 41a0d72759
1 changed files with 8 additions and 4 deletions
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12
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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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