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fix bug for convex-convex polyhedral contact clipping, where the origin of the object is not located inside the convex hull of the vertices.

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erwin.coumans
2012-09-23 18:35:19 +00:00
parent 182c3034de
commit 60c1b1918a
1 changed files with 1 additions and 2 deletions
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src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp
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@@ -276,8 +276,7 @@ bool btPolyhedralContactClipping::findSeparatingAxis( const btConvexPolyhedron&
}
const btVector3 deltaC = transB.getOrigin() - transA.getOrigin();
if((deltaC.dot(sep))>0.0f)
if((DeltaC2.dot(sep))>0.0f)
sep = -sep;
return true;