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Code Issues Releases Wiki Activity

Merge remote-tracking branch 'bp/master'

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This commit is contained in:
Erwin Coumans 2021-04-22 20:41:59 -07:00
commit 85a03bf999
3 changed files with 37 additions and 6 deletions
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33
Extras/CMakeLists.txt
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@ -1,5 +1,36 @@
SUBDIRS( InverseDynamics BulletRoboticsGUI BulletRobotics obj2sdf Serialize ConvexDecomposition HACD GIMPACTUtils )
OPTION(BUILD_INVERSE_DYNAMIC_EXTRA "Build InverseDynamic extra module, only applied when BUILD_EXTRAS is ON" ON)
OPTION(BUILD_BULLET_ROBOTICS_GUI_EXTRA "Build BulletRoboticsGUI extra module, only applied when BUILD_EXTRAS is ON" ON)
OPTION(BUILD_BULLET_ROBOTICS_EXTRA "Build BulletRobotics extra module, only applied when BUILD_EXTRAS is ON" ON)
OPTION(BUILD_OBJ2SDF_EXTRA "Build obj2sdf extra module, only applied when BUILD_EXTRAS is ON" ON)
OPTION(BUILD_SERIALIZE_EXTRA "Build Serialize extra module, only applied when BUILD_EXTRAS is ON" ON)
OPTION(BUILD_CONVEX_DECOMPOSITION_EXTRA "Build ConvexDecomposition extra module, only applied when BUILD_EXTRAS is ON" ON)
OPTION(BUILD_HACD_EXTRA "Build HACD extra module, only applied when BUILD_EXTRAS is ON" ON)
OPTION(BUILD_GIMPACTUTILS_EXTRA "Build GIMPACTUtils extra module, only applied when BUILD_EXTRAS is ON" ON)
IF(BUILD_INVERSE_DYNAMIC_EXTRA)
SUBDIRS( InverseDynamics )
ENDIF()
IF(BUILD_BULLET_ROBOTICS_GUI_EXTRA)
SUBDIRS( BulletRoboticsGUI )
ENDIF()
IF(BUILD_BULLET_ROBOTICS_EXTRA)
SUBDIRS( BulletRobotics )
ENDIF()
IF(BUILD_OBJ2SDF_EXTRA)
SUBDIRS( obj2sdf )
ENDIF()
IF(BUILD_SERIALIZE_EXTRA)
SUBDIRS( Serialize )
ENDIF()
IF(BUILD_CONVEX_DECOMPOSITION_EXTRA)
SUBDIRS( ConvexDecomposition )
ENDIF()
IF(BUILD_HACD_EXTRA)
SUBDIRS( HACD )
ENDIF()
IF(BUILD_GIMPACTUTILS_EXTRA)
SUBDIRS( GIMPACTUtils )
ENDIF()
#Maya Dynamica plugin is moved to http://dynamica.googlecode.com

2
examples/RobotSimulator/CMakeLists.txt
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@ -149,7 +149,7 @@ ELSE()
IF(NOT APPLE)
FIND_PACKAGE(Threads)
TARGET_LINK_LIBRARIES( App_HelloBulletRobotics ${CMAKE_THREAD_LIBS_INIT} ${DL} )
ENDIF(APPLE)
ENDIF(NOT APPLE)
ENDIF(WIN32)

8
src/BulletSoftBody/btDeformableBodySolver.cpp
View File

@ -405,6 +405,10 @@ void btDeformableBodySolver::predictMotion(btScalar solverdt)
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
/* Clear contacts */
psb->m_nodeRigidContacts.resize(0);
psb->m_faceRigidContacts.resize(0);
psb->m_faceNodeContacts.resize(0);
if (psb->isActive())
{
@ -472,10 +476,6 @@ void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar d
{
psb->updateFaceTree(true, true);
}
/* Clear contacts */
psb->m_nodeRigidContacts.resize(0);
psb->m_faceRigidContacts.resize(0);
psb->m_faceNodeContacts.resize(0);
/* Optimize dbvt's */
// psb->m_ndbvt.optimizeIncremental(1);
// psb->m_fdbvt.optimizeIncremental(1);