diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp | 28 |
1 files changed, 16 insertions, 12 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp index 1f94117aa9..af48e94a83 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp @@ -65,13 +65,16 @@ int btMultiBodyFixedConstraint::getIslandIdA() const if (m_bodyA) { - btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); - if (col) - return col->getIslandTag(); - for (int i=0;i<m_bodyA->getNumLinks();i++) + if (m_linkA < 0) { - if (m_bodyA->getLink(i).m_collider) - return m_bodyA->getLink(i).m_collider->getIslandTag(); + btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); + if (col) + return col->getIslandTag(); + } + else + { + if (m_bodyA->getLink(m_linkA).m_collider) + return m_bodyA->getLink(m_linkA).m_collider->getIslandTag(); } } return -1; @@ -83,16 +86,17 @@ int btMultiBodyFixedConstraint::getIslandIdB() const return m_rigidBodyB->getIslandTag(); if (m_bodyB) { - btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); - if (col) - return col->getIslandTag(); - - for (int i=0;i<m_bodyB->getNumLinks();i++) + if (m_linkB < 0) { - col = m_bodyB->getLink(i).m_collider; + btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); if (col) return col->getIslandTag(); } + else + { + if (m_bodyB->getLink(m_linkB).m_collider) + return m_bodyB->getLink(m_linkB).m_collider->getIslandTag(); + } } return -1; } |