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fix rayTest crash for btSoftBody

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This commit is contained in:
Xuchen Han
2020-04-14 17:13:00 -07:00
parent 42fa926857
commit ed3b697320
2 changed files with 8 additions and 1 deletions
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examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+4 -1
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@@ -5986,7 +5986,8 @@ struct BatchRayCaster
int linkIndex = -1;
const btRigidBody* body = btRigidBody::upcast(rayResultCallback.m_collisionObject);
if (body)
const btSoftBody* softBody = btSoftBody::upcast(rayResultCallback.m_collisionObject);
if (body || softBody)
{
objectUniqueId = rayResultCallback.m_collisionObject->getUserIndex2();
}
@@ -8443,6 +8444,7 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
psb->setCollisionFlags(0);
psb->setTotalMass(deformable.m_mass);
psb->setSelfCollision(useSelfCollision);
psb->initializeFaceTree();
}
#endif //SKIP_DEFORMABLE_BODY
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
@@ -8485,6 +8487,7 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
*bodyUniqueId = m_data->m_bodyHandles.allocHandle();
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(*bodyUniqueId);
bodyHandle->m_softBody = psb;
psb->setUserIndex2(*bodyUniqueId);
b3VisualShapeData visualShape;