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Disable a recent new optimization for ray-aabb in btOptimizedBvh, it has some issues.

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///thanks Joerg/hiker for the reproduction case!
///http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1858
This commit is contained in:
ejcoumans
2008-01-28 01:34:48 +00:00
parent 2addd46f4b
commit 923f1411d7
1 changed files with 7 additions and 2 deletions
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9
src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
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@@ -764,6 +764,7 @@ void btOptimizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
btVector3 rayDirection = (rayTarget-raySource); btVector3 rayDirection = (rayTarget-raySource);
rayDirection.normalize (); rayDirection.normalize ();
lambda_max = rayDirection.dot(rayTarget-raySource); lambda_max = rayDirection.dot(rayTarget-raySource);
///what about division by zero?
rayDirection[0] = btScalar(1.0) / rayDirection[0]; rayDirection[0] = btScalar(1.0) / rayDirection[0];
rayDirection[1] = btScalar(1.0) / rayDirection[1]; rayDirection[1] = btScalar(1.0) / rayDirection[1];
rayDirection[2] = btScalar(1.0) / rayDirection[2]; rayDirection[2] = btScalar(1.0) / rayDirection[2];
@@ -832,9 +833,13 @@ void btOptimizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
} }
#endif #endif
#ifdef RAYAABB2 #ifdef RAYAABB2
rayBoxOverlap = btRayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0, lambda_max); ///disable this check: need to check division by zero (above) and fix the unQuantize method
///thanks Joerg/hiker for the reproduction case!
///http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1858
rayBoxOverlap = true;//btRayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0, lambda_max);
#else #else
rayBoxOverlap = btRayAabb(raySource, rayTarget, bounds[0], bounds[1], param, normal); rayBoxOverlap = true;//btRayAabb(raySource, rayTarget, bounds[0], bounds[1], param, normal);
#endif #endif
} }