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Merge pull request #581 from erwincoumans/master

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Use higher precision GJK/EPA collision tolerances in double precision mode. Fix Lua example
This commit is contained in:
erwincoumans
2016-03-12 08:58:16 -08:00
parent de3b6c31c1 87e5128ba8
commit 2ef8669e75
5 changed files with 58 additions and 21 deletions
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6
src/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.cpp
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@@ -34,7 +34,7 @@ namespace gjkepa2_impl2
/* GJK */
#define GJK_MAX_ITERATIONS 128
#define GJK_ACCURARY ((b3Scalar)0.0001)
#define GJK_ACCURACY ((b3Scalar)0.0001)
#define GJK_MIN_DISTANCE ((b3Scalar)0.0001)
#define GJK_DUPLICATED_EPS ((b3Scalar)0.0001)
#define GJK_SIMPLEX2_EPS ((b3Scalar)0.0)
@@ -216,7 +216,7 @@ namespace gjkepa2_impl2
/* Check for termination */
const b3Scalar omega=b3Dot(m_ray,w)/rl;
alpha=b3Max(omega,alpha);
if(((rl-alpha)-(GJK_ACCURARY*rl))<=0)
if(((rl-alpha)-(GJK_ACCURACY*rl))<=0)
{/* Return old simplex */
removevertice(m_simplices[m_current]);
break;
@@ -998,7 +998,7 @@ bool b3GjkEpaSolver2::SignedDistance(const btConvexShape* shape0,
/* Symbols cleanup */
#undef GJK_MAX_ITERATIONS
#undef GJK_ACCURARY
#undef GJK_ACCURACY
#undef GJK_MIN_DISTANCE
#undef GJK_DUPLICATED_EPS
#undef GJK_SIMPLEX2_EPS