Merge pull request #2967 from erwincoumans/master

fix raycast filter masks, they can be negative

3 files changed, 11 insertions, 21 deletions

diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index cc3fb5c9d..b9a890d57 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -5995,12 +5995,9 @@ struct FilteredClosestRayResultCallback : public btCollisionWorld::ClosestRayRes
 
 	virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult, bool normalInWorldSpace)
 	{
-		if (m_collisionFilterMask >= 0)
-		{
-			bool collides = (rayResult.m_collisionObject->getBroadphaseHandle()->m_collisionFilterGroup & m_collisionFilterMask) != 0;
-			if (!collides)
-				return m_closestHitFraction;
-		}
+		bool collides = (rayResult.m_collisionObject->getBroadphaseHandle()->m_collisionFilterGroup & m_collisionFilterMask) != 0;
+		if (!collides)
+			return m_closestHitFraction;
 		return btCollisionWorld::ClosestRayResultCallback::addSingleResult(rayResult, normalInWorldSpace);
 	}
 };
@@ -6019,12 +6016,9 @@ struct FilteredAllHitsRayResultCallback : public btCollisionWorld::AllHitsRayRes
 
 	virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult, bool normalInWorldSpace)
 	{
-		if (m_collisionFilterMask >= 0)
-		{
-			bool collides = (rayResult.m_collisionObject->getBroadphaseHandle()->m_collisionFilterGroup & m_collisionFilterMask) != 0;
-			if (!collides)
-				return m_closestHitFraction;
-		}
+		bool collides = (rayResult.m_collisionObject->getBroadphaseHandle()->m_collisionFilterGroup & m_collisionFilterMask) != 0;
+		if (!collides)
+			return m_closestHitFraction;
 		//remove duplicate hits:
 		//same collision object, link index and hit fraction
 		bool isDuplicate = false;
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_logging.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_logging.py
index 500bbdc71..b6f1c5a3d 100644
--- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_logging.py
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_logging.py
@@ -19,7 +19,7 @@ import datetime
 import os
 import time
 
-import tf.compat.v1 as tf
+import tensorflow.compat.v1 as tf
 from pybullet_envs.minitaur.envs import minitaur_logging_pb2
 
 NUM_MOTORS = 8
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index a349bdc59..f22366b65 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -6576,10 +6576,8 @@ static PyObject* pybullet_rayTestObsolete(PyObject* self, PyObject* args, PyObje
 											   to[0], to[1], to[2]);
 
 
-	if (collisionFilterMask >= 0)
-	{
-		b3RaycastBatchSetCollisionFilterMask(commandHandle, collisionFilterMask);
-	}
+	b3RaycastBatchSetCollisionFilterMask(commandHandle, collisionFilterMask);
+	
 	if (reportHitNumber >= 0)
 	{
 		b3RaycastBatchSetReportHitNumber(commandHandle, reportHitNumber);
@@ -6751,10 +6749,8 @@ static PyObject* pybullet_rayTestBatch(PyObject* self, PyObject* args, PyObject*
 	{
 		b3RaycastBatchSetReportHitNumber(commandHandle, reportHitNumber);
 	}
-	if (collisionFilterMask >= 0)
-	{
-		b3RaycastBatchSetCollisionFilterMask(commandHandle, collisionFilterMask);
-	}
+	b3RaycastBatchSetCollisionFilterMask(commandHandle, collisionFilterMask);
+
 	if (fractionEpsilon >= 0)
 	{
 		b3RaycastBatchSetFractionEpsilon(commandHandle, fractionEpsilon);