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more changes in btGjkEpa2, thanks to Nathanael

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This commit is contained in:
erwin.coumans
2008-05-27 01:09:16 +00:00
parent 596e94dfd1
commit 6457f5a961
1 changed files with 3 additions and 4 deletions
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7
src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
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@@ -287,9 +287,9 @@ bool EncloseOrigin()
{ {
btVector3 axis=btVector3(0,0,0); btVector3 axis=btVector3(0,0,0);
axis[i]=1; axis[i]=1;
if(btFabs(dot(axis,d))<1)
{
const btVector3 p=cross(d,axis); const btVector3 p=cross(d,axis);
if(p.length2()>0)
{
appendvertice(*m_simplex, p); appendvertice(*m_simplex, p);
if(EncloseOrigin()) return(true); if(EncloseOrigin()) return(true);
removevertice(*m_simplex); removevertice(*m_simplex);
@@ -304,8 +304,7 @@ bool EncloseOrigin()
{ {
const btVector3 n=cross(m_simplex->c[1]->w-m_simplex->c[0]->w, const btVector3 n=cross(m_simplex->c[1]->w-m_simplex->c[0]->w,
m_simplex->c[2]->w-m_simplex->c[0]->w); m_simplex->c[2]->w-m_simplex->c[0]->w);
const btScalar l=n.length(); if(n.length2()>0)
if(l>0)
{ {
appendvertice(*m_simplex,n); appendvertice(*m_simplex,n);
if(EncloseOrigin()) return(true); if(EncloseOrigin()) return(true);