From 2529aebc7929d0c2e8a4c4a07f804e4f735dda49 Mon Sep 17 00:00:00 2001
From: ejcoumans <ejcoumans@08e121b0-ae19-0410-a57b-3be3395fd4fd>
Date: Fri, 26 May 2006 19:47:46 +0000
Subject: [PATCH] this should not be necessary, but it happened. todo: why
 doesn't gjk terminate. there are 2 rare cases, one with 'nan'/undefined
 separating axis/distance, and another with rather big distances.

---
 .../NarrowPhaseCollision/GjkPairDetector.cpp   | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/Bullet/NarrowPhaseCollision/GjkPairDetector.cpp b/Bullet/NarrowPhaseCollision/GjkPairDetector.cpp
index c1f4c4e47..9f20cb6d5 100644
--- a/Bullet/NarrowPhaseCollision/GjkPairDetector.cpp
+++ b/Bullet/NarrowPhaseCollision/GjkPairDetector.cpp
@@ -23,6 +23,7 @@ SimdScalar rel_error2 = rel_error * rel_error;
 float maxdist2 = 1.e30f;
 
 
+int maxIter=1000;
 
 GjkPairDetector::GjkPairDetector(ConvexShape* objectA,ConvexShape* objectB,SimplexSolverInterface* simplexSolver,ConvexPenetrationDepthSolver*	penetrationDepthSolver)
 :m_cachedSeparatingAxis(0.f,0.f,1.f),
@@ -50,6 +51,8 @@ void GjkPairDetector::GetClosestPoints(const ClosestPointInput& input,Result& ou
 		marginB = 0.f;
 	}
 
+int curIter = 0;
+
 	bool isValid = false;
 	bool checkSimplex = false;
 	bool checkPenetration = true;
@@ -66,6 +69,21 @@ void GjkPairDetector::GetClosestPoints(const ClosestPointInput& input,Result& ou
 		
 		while (true)
 		{
+			if (curIter++ > maxIter)
+{
+#ifdef DEBUG
+printf("GjkPairDetector maxIter exceeded:%i\n",curIter);
+printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n",
+m_cachedSeparatingAxis.getX(),
+m_cachedSeparatingAxis.getY(),
+m_cachedSeparatingAxis.getZ(),
+squaredDistance,
+m_minkowskiA->GetShapeType(),
+m_minkowskiB->GetShapeType());
+#endif
+break;
+
+}
 
 			SimdVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis();
 			SimdVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis();