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btGjkEpa2 should call getMarginNonVirtual instead of getMargin()

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john.mccutchan
2008-10-08 16:53:56 +00:00
parent 288df0df65
commit 7b1f30f1cf
1 changed files with 2 additions and 2 deletions
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4
src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
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@@ -885,8 +885,8 @@ if(gjk_status==GJK::eStatus::Valid)
results.witnesses[1] = wtrs0*w1; results.witnesses[1] = wtrs0*w1;
const btVector3 delta= results.witnesses[1]- const btVector3 delta= results.witnesses[1]-
results.witnesses[0]; results.witnesses[0];
const btScalar margin= shape0->getMargin()+ const btScalar margin= shape0->getMarginNonVirtual()+
shape1.getMargin(); shape1.getMarginNonVirtual();
const btScalar length= delta.length(); const btScalar length= delta.length();
results.normal = delta/length; results.normal = delta/length;
results.witnesses[0] += results.normal*margin; results.witnesses[0] += results.normal*margin;