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Do not use contact normal choice when there is a single manifold

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This commit is contained in:
Daniel Chappuis 2015-10-16 06:54:25 +02:00
parent 55789d5cdf
commit b5314040b5
1 changed files with 5 additions and 2 deletions
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7
src/collision/ContactManifoldSet.cpp
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@ -33,7 +33,7 @@ ContactManifoldSet::ContactManifoldSet(ProxyShape* shape1, ProxyShape* shape2,
MemoryAllocator& memoryAllocator, int nbMaxManifolds)
: mNbMaxManifolds(nbMaxManifolds), mNbManifolds(0), mShape1(shape1),
mShape2(shape2), mMemoryAllocator(memoryAllocator) {
assert(nbMaxManifolds >= 1);
}
// Destructor
@ -59,7 +59,10 @@ void ContactManifoldSet::addContactPoint(ContactPoint* contact) {
}
// Select the manifold with the most similar normal (if exists)
int similarManifoldIndex = selectManifoldWithSimilarNormal(normalDirectionId);
int similarManifoldIndex = 0;
if (mNbMaxManifolds > 1) {
similarManifoldIndex = selectManifoldWithSimilarNormal(normalDirectionId);
}
// If a similar manifold has been found
if (similarManifoldIndex != -1) {