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bugfix in aabb expansion, causing the convexSweepTest to fail in certain cases

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(when the AABB is not symmetric around the origin)

Thanks to fishboy82 for the report and fix:
See http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=9&t=4484
http://code.google.com/p/bullet/issues/detail?id=322
This commit is contained in:
erwin.coumans
2009-12-22 21:19:41 +00:00
parent 71a7da86e2
commit ac3d52d81b
2 changed files with 6 additions and 6 deletions
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4
src/BulletCollision/BroadphaseCollision/btDbvt.h
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@@ -961,8 +961,8 @@ inline void btDbvt::rayTestInternal( const btDbvtNode* root,
do
{
const btDbvtNode* node=stack[--depth];
bounds[0] = node->volume.Mins()+aabbMin;
bounds[1] = node->volume.Maxs()+aabbMax;
bounds[0] = node->volume.Mins()-aabbMax;
bounds[1] = node->volume.Maxs()-aabbMin;
btScalar tmin=1.f,lambda_min=0.f;
unsigned int result1=false;
result1 = btRayAabb2(rayFrom,rayDirectionInverse,signs,bounds,tmin,lambda_min,lambda_max);