fixes in GJK/btGjkEpa2, thanks to Dev0 for reporting and Nathanael for fixing

2008-05-25 17:45:13 +00:00
parent 3726af466e
commit 596e94dfd1
2 changed files with 8 additions and 1 deletions
--- a/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
@@ -144,6 +144,13 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
 				break;
 			}

+			if(m_cachedSeparatingAxis.length2()<REL_ERROR2)
+            {
+                m_degenerateSimplex = 6;
+                checkSimplex = true;
+                break;
+            }
+
 			btScalar previousSquaredDistance = squaredDistance;
 			squaredDistance = m_cachedSeparatingAxis.length2();