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Another bugfix in the serialization (recently introduced), it is a mine field ;-)

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A fix for btSubSimplexConvexCast, don't add a point of the Minkowski sum if it wasn't already in the voronoi simplex (similar to GJK)
This commit is contained in:
erwin.coumans
2010-03-02 20:37:11 +00:00
parent 8b1e1c9fdf
commit 658979c3ac
2 changed files with 5 additions and 2 deletions
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2
src/BulletCollision/CollisionShapes/btCompoundShape.cpp
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@@ -306,7 +306,7 @@ const char* btCompoundShape::serialize(void* dataBuffer, btSerializer* serialize
memPtr->m_childMargin = float(m_children[i].m_childMargin);
memPtr->m_childShape = (btCollisionShapeData*)serializer->getUniquePointer(m_children[i].m_childShape);
//don't serialize shapes that already have been serialized
if (!serializer->findPointer(memPtr->m_childShape))
if (!serializer->findPointer(m_children[i].m_childShape))
{
btChunk* chunk = serializer->allocate(m_children[i].m_childShape->calculateSerializeBufferSize(),1);
const char* structType = m_children[i].m_childShape->serialize(chunk->m_oldPtr,serializer);

5
src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
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@@ -114,7 +114,10 @@ bool btSubsimplexConvexCast::calcTimeOfImpact(
hasResult = true;
}
}
m_simplexSolver->addVertex( w, supVertexA , supVertexB);
///Just like regular GJK only add the vertex if it isn't already (close) to current vertex, it would lead to divisions by zero and NaN etc.
if (!m_simplexSolver->inSimplex(w))
m_simplexSolver->addVertex( w, supVertexA , supVertexB);
if (m_simplexSolver->closest(v))
{
dist2 = v.length2();