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fix setConvexConvexMultipointIterations feature (broken in a recent commit)

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erwin.coumans
2010-01-12 03:18:49 +00:00
parent c26f5e4b6e
commit 8a1a509e10
1 changed files with 7 additions and 4 deletions
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11
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
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@@ -367,8 +367,6 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw); gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
btVector3 v0,v1;
btVector3 sepNormalWorldSpace;
#ifdef USE_SEPDISTANCE_UTIL2 #ifdef USE_SEPDISTANCE_UTIL2
@@ -380,8 +378,7 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
{ {
sepDist += dispatchInfo.m_convexConservativeDistanceThreshold; sepDist += dispatchInfo.m_convexConservativeDistanceThreshold;
//now perturbe directions to get multiple contact points //now perturbe directions to get multiple contact points
sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
btPlaneSpace1(sepNormalWorldSpace,v0,v1);
} }
} }
#endif //USE_SEPDISTANCE_UTIL2 #endif //USE_SEPDISTANCE_UTIL2
@@ -393,6 +390,12 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
{ {
int i; int i;
btVector3 v0,v1;
btVector3 sepNormalWorldSpace;
sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
btPlaneSpace1(sepNormalWorldSpace,v0,v1);
bool perturbeA = true; bool perturbeA = true;
const btScalar angleLimit = 0.125f * SIMD_PI; const btScalar angleLimit = 0.125f * SIMD_PI;