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Only compute narrow collisition test if at least one body is awake and not static

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This commit is contained in:
Daniel Chappuis 2014-12-31 01:47:50 +01:00
parent c15b83db4a
commit c8a83768d5
1 changed files with 6 additions and 5 deletions
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11
src/collision/CollisionDetection.cpp
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@ -197,14 +197,15 @@ void CollisionDetection::computeNarrowPhase() {
// Update the contact cache of the overlapping pair // Update the contact cache of the overlapping pair
pair->update(); pair->update();
// Check if the two bodies are allowed to collide, otherwise, we do not test for collision // Check that at least one body is awake and not static
if (body1->getType() != DYNAMIC && body2->getType() != DYNAMIC) continue; bool isBody1Active = !body1->isSleeping() && body1->getType() != STATIC;
bool isBody2Active = !body2->isSleeping() && body2->getType() != STATIC;
if (!isBody1Active && !isBody2Active) continue;
// Check if the bodies are in the set of bodies that cannot collide between each other
bodyindexpair bodiesIndex = OverlappingPair::computeBodiesIndexPair(body1, body2); bodyindexpair bodiesIndex = OverlappingPair::computeBodiesIndexPair(body1, body2);
if (mNoCollisionPairs.count(bodiesIndex) > 0) continue; if (mNoCollisionPairs.count(bodiesIndex) > 0) continue;
// Check if the two bodies are sleeping, if so, we do no test collision between them
if (body1->isSleeping() && body2->isSleeping()) continue;
// Select the narrow phase algorithm to use according to the two collision shapes // Select the narrow phase algorithm to use according to the two collision shapes
NarrowPhaseAlgorithm& narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm( NarrowPhaseAlgorithm& narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(
shape1->getCollisionShape(), shape1->getCollisionShape(),