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Merge pull request #1848 from erwincoumans/master

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more fixes related to islands
This commit is contained in:
erwincoumans 2018-08-27 08:50:46 -07:00 committed by GitHub
commit 65175425b0
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3 changed files with 10 additions and 4 deletions
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6
examples/CommonInterfaces/CommonMultiBodyBase.h
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@ -478,6 +478,12 @@ struct CommonMultiBodyBase : public CommonExampleInterface
if (m_pickedConstraint)
{
m_dynamicsWorld->removeConstraint(m_pickedConstraint);
if (m_pickedBody)
{
m_pickedBody->forceActivationState(ACTIVE_TAG);
m_pickedBody->activate(true);
}
delete m_pickedConstraint;
m_pickedConstraint = 0;
m_pickedBody = 0;

2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -2365,7 +2365,7 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_pairCache->setOverlapFilterCallback(m_data->m_broadphaseCollisionFilterCallback);
int maxProxies = 32768;
//int maxProxies = 32768;
//m_data->m_broadphase = new btSimpleBroadphase(maxProxies, m_data->m_pairCache);
btDbvtBroadphase* bv = new btDbvtBroadphase(m_data->m_pairCache);
bv->setVelocityPrediction(0);

6
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@ -455,8 +455,6 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
m_solverMultiBodyIslandCallback->setup(&solverInfo,constraintsPtr,m_sortedConstraints.size(),sortedMultiBodyConstraints,m_sortedMultiBodyConstraints.size(), getDebugDrawer());
m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());
/// solve all the constraints for this island
m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld(),m_solverMultiBodyIslandCallback);
#ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
{
@ -691,7 +689,9 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
}
}
/// solve all the constraints for this island
m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback);
m_solverMultiBodyIslandCallback->processConstraints();