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update single aabb, during resetJointState/resetBasePositionAndOrientation, to allow raycast/collision queries.

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This commit is contained in:
erwin coumans
2021-03-26 09:11:59 -07:00
parent 546212b158
commit 0196edd4d2
1 changed files with 8 additions and 0 deletions
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8
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -10785,6 +10785,12 @@ bool PhysicsServerCommandProcessor::processInitPoseCommand(const struct SharedMe
scratch_m.resize(nLinks + 1);
mb->updateCollisionObjectWorldTransforms(scratch_q, scratch_m);
m_data->m_dynamicsWorld->updateSingleAabb(mb->getBaseCollider());
for (int i=0;i<mb->getNumLinks();i++)
{
m_data->m_dynamicsWorld->updateSingleAabb(mb->getLinkCollider(i));
}
}
if (body && body->m_rigidBody)
@@ -10809,6 +10815,7 @@ bool PhysicsServerCommandProcessor::processInitPoseCommand(const struct SharedMe
body->m_rigidBody->getWorldTransform().setRotation(baseOrn);
body->m_rigidBody->setAngularVelocity(baseAngVel);
}
m_data->m_dynamicsWorld->updateSingleAabb(body->m_rigidBody);
}
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
if (body && body->m_softBody)
@@ -10835,6 +10842,7 @@ bool PhysicsServerCommandProcessor::processInitPoseCommand(const struct SharedMe
}
body->m_softBody->transformTo(tr);
}
m_data->m_dynamicsWorld->updateSingleAabb(body->m_softBody);
}
#endif
syncPhysicsToGraphics2();