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Fix T47758: rigidbody bug with constraint breaking and disable collisions. 

This is a regression in Bullet, reverted the problematic change for now with
a custom patch.
This commit is contained in:
Brecht Van Lommel 2016-03-27 01:25:25 +01:00 committed by Sergey Sharybin
parent fa429b3f0c
commit 18029edf1f
3 changed files with 112 additions and 33 deletions
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89
extern/bullet2/patches/blender.patch vendored
View File

@ -233,3 +233,92 @@ index e05bdcc..dbcf2b6 100644
#include "btVector3.h"
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp
index e0e8bc7..a788268 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp
@@ -425,50 +425,38 @@ void btRigidBody::setCenterOfMassTransform(const btTransform& xform)
}
+bool btRigidBody::checkCollideWithOverride(const btCollisionObject* co) const
+{
+ const btRigidBody* otherRb = btRigidBody::upcast(co);
+ if (!otherRb)
+ return true;
+
+ for (int i = 0; i < m_constraintRefs.size(); ++i)
+ {
+ const btTypedConstraint* c = m_constraintRefs[i];
+ if (c->isEnabled())
+ if (&c->getRigidBodyA() == otherRb || &c->getRigidBodyB() == otherRb)
+ return false;
+ }
+
+ return true;
+}
void btRigidBody::addConstraintRef(btTypedConstraint* c)
{
- ///disable collision with the 'other' body
-
int index = m_constraintRefs.findLinearSearch(c);
- //don't add constraints that are already referenced
- //btAssert(index == m_constraintRefs.size());
if (index == m_constraintRefs.size())
- {
- m_constraintRefs.push_back(c);
- btCollisionObject* colObjA = &c->getRigidBodyA();
- btCollisionObject* colObjB = &c->getRigidBodyB();
- if (colObjA == this)
- {
- colObjA->setIgnoreCollisionCheck(colObjB, true);
- }
- else
- {
- colObjB->setIgnoreCollisionCheck(colObjA, true);
- }
- }
+ m_constraintRefs.push_back(c);
+
+ m_checkCollideWith = true;
}
void btRigidBody::removeConstraintRef(btTypedConstraint* c)
{
- int index = m_constraintRefs.findLinearSearch(c);
- //don't remove constraints that are not referenced
- if(index < m_constraintRefs.size())
- {
- m_constraintRefs.remove(c);
- btCollisionObject* colObjA = &c->getRigidBodyA();
- btCollisionObject* colObjB = &c->getRigidBodyB();
- if (colObjA == this)
- {
- colObjA->setIgnoreCollisionCheck(colObjB, false);
- }
- else
- {
- colObjB->setIgnoreCollisionCheck(colObjA, false);
- }
- }
+ m_constraintRefs.remove(c);
+ m_checkCollideWith = m_constraintRefs.size() > 0;
}
int btRigidBody::calculateSerializeBufferSize() const
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h
index 1d177db..c2f8c5d 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h
@@ -509,6 +509,8 @@ public:
return (getBroadphaseProxy() != 0);
}
+ virtual bool checkCollideWithOverride(const btCollisionObject* co) const;
+
void addConstraintRef(btTypedConstraint* c);
void removeConstraintRef(btTypedConstraint* c);

54
extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp vendored
View File

@ -425,50 +425,38 @@ void btRigidBody::setCenterOfMassTransform(const btTransform& xform)
}
bool btRigidBody::checkCollideWithOverride(const btCollisionObject* co) const
{
const btRigidBody* otherRb = btRigidBody::upcast(co);
if (!otherRb)
return true;
for (int i = 0; i < m_constraintRefs.size(); ++i)
{
const btTypedConstraint* c = m_constraintRefs[i];
if (c->isEnabled())
if (&c->getRigidBodyA() == otherRb || &c->getRigidBodyB() == otherRb)
return false;
}
return true;
}
void btRigidBody::addConstraintRef(btTypedConstraint* c)
{
///disable collision with the 'other' body
int index = m_constraintRefs.findLinearSearch(c);
//don't add constraints that are already referenced
//btAssert(index == m_constraintRefs.size());
if (index == m_constraintRefs.size())
{
m_constraintRefs.push_back(c);
btCollisionObject* colObjA = &c->getRigidBodyA();
btCollisionObject* colObjB = &c->getRigidBodyB();
if (colObjA == this)
{
colObjA->setIgnoreCollisionCheck(colObjB, true);
}
else
{
colObjB->setIgnoreCollisionCheck(colObjA, true);
}
}
m_constraintRefs.push_back(c);
m_checkCollideWith = true;
}
void btRigidBody::removeConstraintRef(btTypedConstraint* c)
{
int index = m_constraintRefs.findLinearSearch(c);
//don't remove constraints that are not referenced
if(index < m_constraintRefs.size())
{
m_constraintRefs.remove(c);
btCollisionObject* colObjA = &c->getRigidBodyA();
btCollisionObject* colObjB = &c->getRigidBodyB();
if (colObjA == this)
{
colObjA->setIgnoreCollisionCheck(colObjB, false);
}
else
{
colObjB->setIgnoreCollisionCheck(colObjA, false);
}
}
m_constraintRefs.remove(c);
m_checkCollideWith = m_constraintRefs.size() > 0;
}
int btRigidBody::calculateSerializeBufferSize() const

2
extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h vendored
View File

@ -509,6 +509,8 @@ public:
return (getBroadphaseProxy() != 0);
}
virtual bool checkCollideWithOverride(const btCollisionObject* co) const;
void addConstraintRef(btTypedConstraint* c);
void removeConstraintRef(btTypedConstraint* c);