diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp | 12 |
1 files changed, 8 insertions, 4 deletions
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp index e4da468299..d2641c582f 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp @@ -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 |