From 4c69ee93e23d4da91bff03dc6f88b6d59693c332 Mon Sep 17 00:00:00 2001 From: ejcoumans Date: Tue, 11 Dec 2007 23:35:37 +0000 Subject: [PATCH] small improvement in btConvexPlaneCollisionAlgorithm --- .../CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp index 9b39433dd..5b16a5e7e 100644 --- a/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp +++ b/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp @@ -70,11 +70,10 @@ void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0 planeInConvex= convexObj->getWorldTransform().inverse() * planeObj->getWorldTransform(); btTransform convexInPlaneTrans; convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexObj->getWorldTransform(); - //btVector3 vtx = convexShape->localGetSupportingVertexWithoutMargin(planeNormal); - btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal); + + btVector3 vtx = convexShape->localGetSupportingVertexWithoutMargin(planeInConvex.getBasis()*-planeNormal); btVector3 vtxInPlane = convexInPlaneTrans(vtx); - //btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant) - convexShape->getMargin(); - btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant); + btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant) - convexShape->getMargin(); btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal; btVector3 vtxInPlaneWorld = planeObj->getWorldTransform() * vtxInPlaneProjected;