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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.

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ejcoumans
2006-05-26 19:47:46 +00:00
parent 1035e21422
commit 2529aebc79
1 changed files with 18 additions and 0 deletions
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18
Bullet/NarrowPhaseCollision/GjkPairDetector.cpp
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@@ -23,6 +23,7 @@ SimdScalar rel_error2 = rel_error * rel_error;
float maxdist2 = 1.e30f; float maxdist2 = 1.e30f;
int maxIter=1000;
GjkPairDetector::GjkPairDetector(ConvexShape* objectA,ConvexShape* objectB,SimplexSolverInterface* simplexSolver,ConvexPenetrationDepthSolver* penetrationDepthSolver) GjkPairDetector::GjkPairDetector(ConvexShape* objectA,ConvexShape* objectB,SimplexSolverInterface* simplexSolver,ConvexPenetrationDepthSolver* penetrationDepthSolver)
:m_cachedSeparatingAxis(0.f,0.f,1.f), :m_cachedSeparatingAxis(0.f,0.f,1.f),
@@ -50,6 +51,8 @@ void GjkPairDetector::GetClosestPoints(const ClosestPointInput& input,Result& ou
marginB = 0.f; marginB = 0.f;
} }
int curIter = 0;
bool isValid = false; bool isValid = false;
bool checkSimplex = false; bool checkSimplex = false;
bool checkPenetration = true; bool checkPenetration = true;
@@ -66,6 +69,21 @@ void GjkPairDetector::GetClosestPoints(const ClosestPointInput& input,Result& ou
while (true) 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 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis();
SimdVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis(); SimdVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis();