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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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erwin coumans
2014-12-16 14:27:57 -08:00
parent 548fe5b04e c26e0c2f73
commit b88aaa7115
1 changed files with 16 additions and 3 deletions
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19
src/LinearMath/btGrahamScan2dConvexHull.h
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@@ -85,9 +85,17 @@ inline void GrahamScanConvexHull2D(btAlignedObjectArray<GrahamVector3>& original
originalPoints[0].m_angle = -1e30f; originalPoints[0].m_angle = -1e30f;
for (int i=1;i<originalPoints.size();i++) for (int i=1;i<originalPoints.size();i++)
{ {
btVector3 xvec = axis0; btVector3 ar = originalPoints[i]-originalPoints[0];
btVector3 ar = originalPoints[i]-originalPoints[0]; btScalar ar1 = axis1.dot(ar);
originalPoints[i].m_angle = btCross(xvec, ar).dot(normalAxis) / ar.length(); btScalar ar0 = axis0.dot(ar);
if( ar1*ar1+ar0*ar0 < FLT_EPSILON )
{
originalPoints[i].m_angle = 0.0f;
}
else
{
originalPoints[i].m_angle = btAtan2Fast(ar1, ar0);
}
} }
//step 2: sort all points, based on 'angle' with this anchor //step 2: sort all points, based on 'angle' with this anchor
@@ -111,6 +119,11 @@ inline void GrahamScanConvexHull2D(btAlignedObjectArray<GrahamVector3>& original
else else
hull.push_back(originalPoints[i]); hull.push_back(originalPoints[i]);
} }
if( hull.size() == 1 )
{
hull.push_back( originalPoints[i] );
}
} }
} }