diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp | 14 |
1 files changed, 11 insertions, 3 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp index a196d4522e..b9944c138b 100644 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp +++ b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp @@ -842,6 +842,9 @@ public: btCollisionObject* otherObj = (btCollisionObject*) proxy0->m_clientObject; + if(!m_dispatcher->needsCollision(m_me, otherObj)) + return false; + //call needsResponse, see http://code.google.com/p/bullet/issues/detail?id=179 if (m_dispatcher->needsResponse(m_me,otherObj)) { @@ -1342,9 +1345,12 @@ void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint) btVector3 axis = tr.getBasis().getColumn(0); btScalar minTh = p6DOF->getRotationalLimitMotor(1)->m_loLimit; btScalar maxTh = p6DOF->getRotationalLimitMotor(1)->m_hiLimit; - btScalar minPs = p6DOF->getRotationalLimitMotor(2)->m_loLimit; - btScalar maxPs = p6DOF->getRotationalLimitMotor(2)->m_hiLimit; - getDebugDrawer()->drawSpherePatch(center, up, axis, dbgDrawSize * btScalar(.9f), minTh, maxTh, minPs, maxPs, btVector3(0, 0, 0)); + if (minTh <= maxTh) + { + btScalar minPs = p6DOF->getRotationalLimitMotor(2)->m_loLimit; + btScalar maxPs = p6DOF->getRotationalLimitMotor(2)->m_hiLimit; + getDebugDrawer()->drawSpherePatch(center, up, axis, dbgDrawSize * btScalar(.9f), minTh, maxTh, minPs, maxPs, btVector3(0, 0, 0)); + } axis = tr.getBasis().getColumn(1); btScalar ay = p6DOF->getAngle(1); btScalar az = p6DOF->getAngle(2); @@ -1533,6 +1539,8 @@ void btDiscreteDynamicsWorld::serialize(btSerializer* serializer) serializeRigidBodies(serializer); + serializeContactManifolds(serializer); + serializer->finishSerialization(); } |