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btVoronoiSimplexSolver::inSimplex can return when first 'found=true' is set instead of going through all points, since found is never set to false in any other condition.

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PersistentManifold replaceContactPoint set the same values for m_appliedImpluse; remove redunant set.
This commit is contained in:
d3x0r
2015-11-08 10:22:02 -08:00
parent e39afd06b9
commit 99acea9594
2 changed files with 3 additions and 4 deletions
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4
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
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@@ -196,10 +196,6 @@ public:
m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1;
m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
m_pointCache[insertIndex].m_appliedImpulse = appliedImpulse;
m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1;
m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
m_pointCache[insertIndex].m_lifeTime = lifeTime;
#else

3
src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
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@@ -294,7 +294,10 @@ bool btVoronoiSimplexSolver::inSimplex(const btVector3& w)
#else
if (m_simplexVectorW[i] == w)
#endif
{
found = true;
break;
}
}
//check in case lastW is already removed