[Opal-commits] opal/src/ODE ODESimulator.cpp,1.104,1.105

[tylerstreeter <tyl...@us...>]

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv21144/src/ODE

Modified Files:
	ODESimulator.cpp 
Log Message:
Fixed bug where collisions between two static Solids (at least one of them using a CollisionEventHandler) caused  a crash in an ODE function call.  Thanks to EarthquakeProof in the forum for catching this.

Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.104
retrieving revision 1.105
diff -C2 -d -r1.104 -r1.105
*** ODESimulator.cpp	24 Jun 2005 16:40:49 -0000	1.104
--- ODESimulator.cpp	24 Jun 2005 18:46:29 -0000	1.105
***************
*** 344,352 ****
  				//    contacts) with contacts disabled (note: both must have 
  				//    bodies to check this): this is enforced.
! 				// 6. Solid0 is static, Solid1 is sleeping, 
  				//    static-to-sleeping contacts are ignored by the 
  				//    Simulator, and neither Solid has a 
  				//    CollisionEventHandler: this is enforced.
! 				// 7. Solid1 is static, Solid0 is sleeping, 
  				//    static-to-sleeping contacts are ignored by the 
  				//    Simulator, and neither Solid has a 
--- 344,352 ----
  				//    contacts) with contacts disabled (note: both must have 
  				//    bodies to check this): this is enforced.
! 				// 6. Solid0 is static, Solid1 is dynamic and is sleeping, 
  				//    static-to-sleeping contacts are ignored by the 
  				//    Simulator, and neither Solid has a 
  				//    CollisionEventHandler: this is enforced.
! 				// 7. Solid1 is static, Solid0 is dynamic and is sleeping, 
  				//    static-to-sleeping contacts are ignored by the 
  				//    Simulator, and neither Solid has a 
***************
*** 415,420 ****
  				bool neitherHasEventHandler = !(handler0 || handler1);
  
! 				// It is important here that we don't check if a static body 
! 				// is disabled (sleeping) because that crashes ODE.
  				if ((neitherHasEventHandler 
  						&& solid0Static && solid1Static) //case 1
--- 415,421 ----
  				bool neitherHasEventHandler = !(handler0 || handler1);
  
! 				// Now do the actual tests to see if we should return early.  
! 				// It is important here that we don't call dBodyIsEnabled on 
! 				// a static body because that crashes ODE.
  				if ((neitherHasEventHandler 
  						&& solid0Static && solid1Static) //case 1
***************
*** 426,433 ****
  					|| (commonJoint 
  						&& !commonJoint->areContactsEnabled()) // case 5
! 					|| (solid0Static && !dBodyIsEnabled(o1BodyID) 
  						&& ignoreStaticSleepingContacts 
  						&& neitherHasEventHandler) //case 6
! 					|| (solid1Static && !dBodyIsEnabled(o0BodyID) 
  						&& ignoreStaticSleepingContacts 
  						&& neitherHasEventHandler) //case 7
--- 427,436 ----
  					|| (commonJoint 
  						&& !commonJoint->areContactsEnabled()) // case 5
! 					|| (solid0Static && 0 != o1BodyID 
! 						&& !dBodyIsEnabled(o1BodyID) 
  						&& ignoreStaticSleepingContacts 
  						&& neitherHasEventHandler) //case 6
! 					|| (solid1Static && 0 != o0BodyID 
! 						&& !dBodyIsEnabled(o0BodyID) 
  						&& ignoreStaticSleepingContacts 
  						&& neitherHasEventHandler) //case 7