allow getClosestPoints for btCompoundCollisionAlgorithm and btSphereTriangleCollisionAlgorithm

add optional 'lightColor' arg to testrender.py script
2016-11-22 10:11:04 -08:00
parent 24c9020aac
commit 0516d2ecaa
4 changed files with 7 additions and 3 deletions
--- a/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
+++ b/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
@@ -100,7 +100,7 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po
 	btScalar radiusWithThreshold = radius + contactBreakingThreshold;

 	btVector3 normal = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]);
-	normal.normalize();
+	normal.safeNormalize();
 	btVector3 p1ToCentre = sphereCenter - vertices[0];
 	btScalar distanceFromPlane = p1ToCentre.dot(normal);