Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

more assert issues fixed in Epa

Browse Source
This commit is contained in:
ejcoumans
2006-09-07 23:28:30 +00:00
parent 543ad0ed4c
commit 10aed12f42
2 changed files with 14 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
Extras/EPA/Epa.cpp
View File

@@ -83,20 +83,29 @@ bool Epa::Initialize( SimplexSolverInterface& simplexSolver )
delta = v.dot( w ); delta = v.dot( w );
EPA_DEBUG_ASSERT( ( delta <= 0 ) ,"Shapes are disjoint, EPA should have never been called!" ); EPA_DEBUG_ASSERT( ( delta <= 0 ) ,"Shapes are disjoint, EPA should have never been called!" );
if ( delta > 0.f )
return false;
EPA_DEBUG_ASSERT( !simplexSolver.inSimplex( w ) ,"Shapes are disjoint, EPA should have never been called!" ); EPA_DEBUG_ASSERT( !simplexSolver.inSimplex( w ) ,"Shapes are disjoint, EPA should have never been called!" );
if (simplexSolver.inSimplex( w ))
return false;
// Add support point to simplex // Add support point to simplex
simplexSolver.addVertex( w, pWorld, qWorld ); simplexSolver.addVertex( w, pWorld, qWorld );
bool closestOk = simplexSolver.closest( v ); bool closestOk = simplexSolver.closest( v );
EPA_DEBUG_ASSERT( closestOk ,"Shapes are disjoint, EPA should have never been called!" ); EPA_DEBUG_ASSERT( closestOk ,"Shapes are disjoint, EPA should have never been called!" );
if (!closestOk)
return false;
SimdScalar prevVSqrd = squaredDistance; SimdScalar prevVSqrd = squaredDistance;
squaredDistance = v.length2(); squaredDistance = v.length2();
// Is v converging to v(A-B) ? // Is v converging to v(A-B) ?
EPA_DEBUG_ASSERT( ( ( prevVSqrd - squaredDistance ) > SIMD_EPSILON * prevVSqrd ) , EPA_DEBUG_ASSERT( ( ( prevVSqrd - squaredDistance ) > SIMD_EPSILON * prevVSqrd ) ,
"Shapes are disjoint, EPA should have never been called!" ); "Shapes are disjoint, EPA should have never been called!" );
if (( ( prevVSqrd - squaredDistance ) <= SIMD_EPSILON * prevVSqrd ))
return false;
if ( simplexSolver.fullSimplex() || ( squaredDistance <= SIMD_EPSILON * simplexSolver.maxVertex() ) ) if ( simplexSolver.fullSimplex() || ( squaredDistance <= SIMD_EPSILON * simplexSolver.maxVertex() ) )
{ {

8
Extras/EPA/EpaPenetrationDepthSolver.cpp
View File

@@ -45,8 +45,8 @@ bool EpaPenetrationDepthSolver::CalcPenDepth( SimplexSolverInterface& simplexSol
SimdVector3& v, SimdPoint3& wWitnessOnA, SimdPoint3& wWitnessOnB, SimdVector3& v, SimdPoint3& wWitnessOnA, SimdPoint3& wWitnessOnB,
class IDebugDraw* debugDraw ) class IDebugDraw* debugDraw )
{ {
assert( pConvexA && "Convex shape A is invalid!" ); EPA_DEBUG_ASSERT( pConvexA ,"Convex shape A is invalid!" );
assert( pConvexB && "Convex shape B is invalid!" ); EPA_DEBUG_ASSERT( pConvexB ,"Convex shape B is invalid!" );
SimdScalar penDepth; SimdScalar penDepth;
@@ -60,7 +60,7 @@ bool EpaPenetrationDepthSolver::CalcPenDepth( SimplexSolverInterface& simplexSol
penDepth = EpaPenDepth( simplexSolver, pConvexA, pConvexB, penDepth = EpaPenDepth( simplexSolver, pConvexA, pConvexB,
transformA, transformB, transformA, transformB,
wWitnessOnA, wWitnessOnB ); wWitnessOnA, wWitnessOnB );
assert( ( penDepth > 0 ) && "EPA or Hybrid Technique failed to calculate penetration depth!" ); EPA_DEBUG_ASSERT( ( penDepth > 0 ) ,"EPA or Hybrid Technique failed to calculate penetration depth!" );
#ifdef EPA_USE_HYBRID #ifdef EPA_USE_HYBRID
} }
@@ -193,7 +193,7 @@ SimdScalar EpaPenetrationDepthSolver::EpaPenDepth( SimplexSolverInterface& simpl
if ( !epa.Initialize( simplexSolver ) ) if ( !epa.Initialize( simplexSolver ) )
{ {
assert( false && "Epa failed to initialize!" ); EPA_DEBUG_ASSERT( false ,"Epa failed to initialize!" );
return 0; return 0;
} }