Differential D1739 Diff 5899 extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
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extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
| Show First 20 Lines • Show All 68 Lines • ▼ Show 20 Lines | if (other->m_multiBody != this->m_multiBody) | ||||
| return true; | return true; | ||||
| if (!m_multiBody->hasSelfCollision()) | if (!m_multiBody->hasSelfCollision()) | ||||
| return false; | return false; | ||||
| //check if 'link' has collision disabled | //check if 'link' has collision disabled | ||||
| if (m_link>=0) | if (m_link>=0) | ||||
| { | { | ||||
| const btMultibodyLink& link = m_multiBody->getLink(this->m_link); | const btMultibodyLink& link = m_multiBody->getLink(this->m_link); | ||||
| if ((link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION) && link.parent == other->m_link) | if ((link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION) && link.m_parent == other->m_link) | ||||
| return false; | return false; | ||||
| } | } | ||||
| if (other->m_link>=0) | if (other->m_link>=0) | ||||
| { | { | ||||
| const btMultibodyLink& otherLink = other->m_multiBody->getLink(other->m_link); | const btMultibodyLink& otherLink = other->m_multiBody->getLink(other->m_link); | ||||
| if ((otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION) && otherLink.parent == this->m_link) | if ((otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION) && otherLink.m_parent == this->m_link) | ||||
| return false; | return false; | ||||
| } | } | ||||
| return true; | return true; | ||||
| } | } | ||||
| }; | }; | ||||
| #endif //BT_FEATHERSTONE_LINK_COLLIDER_H | #endif //BT_FEATHERSTONE_LINK_COLLIDER_H | ||||