Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

fix setConvexConvexMultipointIterations feature (broken in a recent commit)

Browse Source
This commit is contained in:
erwin.coumans
2010-01-12 03:18:49 +00:00
parent c26f5e4b6e
commit 8a1a509e10
1 changed files with 7 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
View File

@@ -367,8 +367,6 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
btVector3 v0,v1;
btVector3 sepNormalWorldSpace;
#ifdef USE_SEPDISTANCE_UTIL2
@@ -380,8 +378,7 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
{
sepDist += dispatchInfo.m_convexConservativeDistanceThreshold;
//now perturbe directions to get multiple contact points
sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
btPlaneSpace1(sepNormalWorldSpace,v0,v1);
}
}
#endif //USE_SEPDISTANCE_UTIL2
@@ -393,6 +390,12 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
{
int i;
btVector3 v0,v1;
btVector3 sepNormalWorldSpace;
sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
btPlaneSpace1(sepNormalWorldSpace,v0,v1);
bool perturbeA = true;
const btScalar angleLimit = 0.125f * SIMD_PI;