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fixed bug in PolyhedralConvexShape supportmapping, and better description for GJK max iteration exit

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This commit is contained in:
ejcoumans
2006-09-24 04:21:11 +00:00
parent f1627677df
commit 804d99e392
2 changed files with 11 additions and 6 deletions
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13
Bullet/CollisionShapes/PolyhedralConvexShape.cpp
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@@ -66,9 +66,13 @@ void PolyhedralConvexShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(co
SimdVector3 vtx; SimdVector3 vtx;
SimdScalar newDot; SimdScalar newDot;
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i][3] = -1e30f;
}
for (int j=0;j<numVectors;j++) for (int j=0;j<numVectors;j++)
{ {
SimdScalar maxDot(-1e30f);
const SimdVector3& vec = vectors[j]; const SimdVector3& vec = vectors[j];
@@ -76,10 +80,11 @@ void PolyhedralConvexShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(co
{ {
GetVertex(i,vtx); GetVertex(i,vtx);
newDot = vec.dot(vtx); newDot = vec.dot(vtx);
if (newDot > maxDot) if (newDot > supportVerticesOut[j][3])
{ {
maxDot = newDot; //WARNING: don't swap next lines, the w component would get overwritten!
supportVerticesOut[i] = vtx; supportVerticesOut[j] = vtx;
supportVerticesOut[j][3] = newDot;
} }
} }
} }

2
Bullet/NarrowPhaseCollision/GjkPairDetector.cpp
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@@ -77,7 +77,7 @@ int curIter = 0;
while (true) while (true)
{ {
//rare failure case, perhaps deferate shapes? //degeneracy, this is typically due to invalid/uninitialized worldtransforms for a CollisionObject
if (curIter++ > gGjkMaxIter) if (curIter++ > gGjkMaxIter)
{ {
#if defined(DEBUG) || defined (_DEBUG) #if defined(DEBUG) || defined (_DEBUG)