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Merge pull request #1564 from radarsat1/master

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Fix calculation of startPt for perturbed object A.
This commit is contained in:
erwincoumans
2018-02-16 10:16:15 -08:00
committed by GitHub
parent e87060dcf4 58310bd21d
commit 1dcacbb64e
1 changed files with 1 additions and 1 deletions
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2
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
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@@ -259,7 +259,7 @@ struct btPerturbedContactResult : public btManifoldResult
btVector3 endPtOrg = pointInWorld + normalOnBInWorld*orgDepth; btVector3 endPtOrg = pointInWorld + normalOnBInWorld*orgDepth;
endPt = (m_unPerturbedTransform*m_transformA.inverse())(endPtOrg); endPt = (m_unPerturbedTransform*m_transformA.inverse())(endPtOrg);
newDepth = (endPt - pointInWorld).dot(normalOnBInWorld); newDepth = (endPt - pointInWorld).dot(normalOnBInWorld);
startPt = endPt+normalOnBInWorld*newDepth; startPt = endPt - normalOnBInWorld*newDepth;
} else } else
{ {
endPt = pointInWorld + normalOnBInWorld*orgDepth; endPt = pointInWorld + normalOnBInWorld*orgDepth;