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Fix Issue #1623, SphereTriangleDetector for cases with positive contactBreakingThreshold and where sphere was intersecting with multiple edges

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(need to take the closest edge)

Thanks to Andrea Catania for the report and reproduction case!
This commit is contained in:
Erwin Coumans
2018-05-22 08:36:00 +10:00
parent 2ac8c7009d
commit 62d58259bc
1 changed files with 4 additions and 2 deletions
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6
src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
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@@ -132,6 +132,7 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po
else {
// Could be inside one of the contact capsules
btScalar contactCapsuleRadiusSqr = radiusWithThreshold*radiusWithThreshold;
btScalar minDistSqr = contactCapsuleRadiusSqr;
btVector3 nearestOnEdge;
for (int i = 0; i < m_triangle->getNumEdges(); i++) {
@@ -141,8 +142,9 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po
m_triangle->getEdge(i, pa, pb);
btScalar distanceSqr = SegmentSqrDistance(pa, pb, sphereCenter, nearestOnEdge);
if (distanceSqr < contactCapsuleRadiusSqr) {
// Yep, we're inside a capsule
if (distanceSqr < minDistSqr) {
// Yep, we're inside a capsule, and record the capsule with smallest distance
minDistSqr = distanceSqr;
hasContact = true;
contactPoint = nearestOnEdge;
}