Merge pull request #1850 from erwincoumans/master

Add preliminary GRPC server for PyBullet and BulletRobotics.
2018-08-30 19:40:13 -07:00
parent 4d00beefbb f10068b7c9
commit 4bf846822f
21 changed files with 7540 additions and 250 deletions
--- a/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
@@ -33,8 +33,8 @@ bool btGjkEpaPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simp
 	(void)simplexSolver;

 	btVector3 guessVectors[] = {
-		btVector3(transformB.getOrigin() - transformA.getOrigin()),
-		btVector3(transformA.getOrigin() - transformB.getOrigin()),
+		btVector3(transformB.getOrigin() - transformA.getOrigin()).normalized(),
+		btVector3(transformA.getOrigin() - transformB.getOrigin()).normalized(),
 		btVector3(0, 0, 1),
 		btVector3(0, 1, 0),
 		btVector3(1, 0, 0),
--- a/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp