diff options
Diffstat (limited to 'examples/SharedMemory/PhysicsServerCommandProcessor.cpp')
| -rw-r--r-- | examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 23 |
1 files changed, 12 insertions, 11 deletions
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index aa2db7288..d2386cb2a 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -8134,11 +8134,11 @@ bool PhysicsServerCommandProcessor::processRequestDeformableDeformableContactpoi { return false; } - const int max_contacts_per_object = 4; - for (int i = deformWorld->getSoftBodyArray().size() - 1; i >= 0; i--) + const int max_contacts_per_object = 4; + for (int i = deformWorld->getSoftBodyArray().size() - 1; i >= 0; i--) { - int num_contacts_reported = 0; - btSoftBody* psb = deformWorld->getSoftBodyArray()[i]; + int num_contacts_reported = 0; + btSoftBody* psb = deformWorld->getSoftBodyArray()[i]; for (int c = 0; c < psb->m_faceNodeContacts.size(); c++) { const btSoftBody::DeformableFaceNodeContact* contact = &psb->m_faceNodeContacts[c]; @@ -8156,14 +8156,15 @@ bool PhysicsServerCommandProcessor::processRequestDeformableDeformableContactpoi if(RequestFiltered(clientCmd, linkIndexA, linkIndexB, objectIndexA, objectIndexB, swap)==true){ continue; } - if(++num_contacts_reported>max_contacts_per_object){ - break; - } - //Convert contact info + if (++num_contacts_reported > max_contacts_per_object) + { + break; + } + //Convert contact info b3ContactPointData pt; - btVector3 l = contact->m_node->m_x - BaryEval(contact->m_face->m_n[0]->m_x, contact->m_face->m_n[1]->m_x, contact->m_face->m_n[2]->m_x, contact->m_normal); - pt.m_contactDistance = -contact->m_margin + contact->m_normal.dot(l); - pt.m_bodyUniqueIdA = objectIndexA; + btVector3 l = contact->m_node->m_x - BaryEval(contact->m_face->m_n[0]->m_x, contact->m_face->m_n[1]->m_x, contact->m_face->m_n[2]->m_x, contact->m_normal); + pt.m_contactDistance = -contact->m_margin + contact->m_normal.dot(l); + pt.m_bodyUniqueIdA = objectIndexA; pt.m_bodyUniqueIdB = objectIndexB; pt.m_contactDistance = 0; pt.m_contactFlags = 0; |