diff options
| -rw-r--r-- | source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp | 20 |
1 files changed, 16 insertions, 4 deletions
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp index 08f40424323..0a37a461c59 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp @@ -956,13 +956,25 @@ void CcdPhysicsEnvironment::CallbackTriggers() if (m_triggerCallbacks[PHY_OBJECT_RESPONSE] || (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints))) { //walk over all overlapping pairs, and if one of the involved bodies is registered for trigger callback, perform callback - int numManifolds = m_dynamicsWorld->getDispatcher()->getNumManifolds(); + btDispatcher* dispatcher = m_dynamicsWorld->getDispatcher(); + int numManifolds = dispatcher->getNumManifolds(); for (int i=0;i<numManifolds;i++) { - btPersistentManifold* manifold = m_dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i); + btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i); int numContacts = manifold->getNumContacts(); if (numContacts) { + btRigidBody* rb0 = static_cast<btRigidBody*>(manifold->getBody0()); + btRigidBody* rb1 = static_cast<btRigidBody*>(manifold->getBody1()); + // Bullet does not refresh the manifold contact point for object without contact response + // may need to remove this when a newer Bullet version is integrated + if (!dispatcher->needsResponse(rb0, rb1)) + { + manifold->refreshContactPoints(rb0->getCenterOfMassTransform(),rb1->getCenterOfMassTransform()); + numContacts = manifold->getNumContacts(); + if (!numContacts) + continue; + } if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)) { for (int j=0;j<numContacts;j++) @@ -973,8 +985,8 @@ void CcdPhysicsEnvironment::CallbackTriggers() m_debugDrawer->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color); } } - btRigidBody* obj0 = static_cast<btRigidBody* >(manifold->getBody0()); - btRigidBody* obj1 = static_cast<btRigidBody* >(manifold->getBody1()); + btRigidBody* obj0 = rb0; + btRigidBody* obj1 = rb1; //m_internalOwner is set in 'addPhysicsController' CcdPhysicsController* ctrl0 = static_cast<CcdPhysicsController*>(obj0->getUserPointer()); |