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More GJK degeneracy fixes, thanks Jacob Langford for the feedback:

Browse Source 
http://code.google.com/p/bullet/issues/detail?id=250

Added missing files for Maya Dynamica plugin
Thanks Herbert Law for the patch, and damrit and others for the report
http://code.google.com/p/bullet/issues/detail?id=231

Fix btQuaternion shortestArcQuat, thanks Stan Melax for original fix and shogun for reminder
http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1989

Implemented btDiscreteDynamicsWorld::removeCollisionObject (and btSoftBodyDynamicsWorld) to avoid
crashes. Thanks Jacob Langford for bringing that up.

Minor sphere-debug drawing issue (spheres were drawn inside-out (wrong face winding)
This commit is contained in:
erwin.coumans
2009-07-13 21:48:19 +00:00
parent d4b099236c
commit c4ad354ac0
16 changed files with 329 additions and 65 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
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@@ -208,7 +208,7 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
{
m_degenerateSimplex = 7;
squaredDistance = previousSquaredDistance;
checkSimplex = true;
checkSimplex = false;
break;
}
@@ -315,13 +315,11 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON))
{
tmpNormalInB /= btSqrt(lenSqr);
btScalar distance2 = -(tmpPointOnA-tmpPointOnB).length()-margin;
btScalar distance2 = -(tmpPointOnA-tmpPointOnB).length();
//only replace valid penetrations when the result is deeper (check)
if (!isValid || (distance2 < distance))
{
distance = distance2;
pointOnA -= m_cachedSeparatingAxis * (marginA / distance);
pointOnB += m_cachedSeparatingAxis * (marginB / distance);
pointOnA = tmpPointOnA;
pointOnB = tmpPointOnB;
normalInB = tmpNormalInB;
@@ -349,13 +347,15 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON))
{
tmpNormalInB /= btSqrt(lenSqr);
btScalar distance2 = (tmpPointOnA-tmpPointOnB).length();
btScalar distance2 = (tmpPointOnA-tmpPointOnB).length()-margin;
//only replace valid distances when the distance is less
if (!isValid || (distance2 < distance))
{
distance = distance2;
pointOnA = tmpPointOnA;
pointOnB = tmpPointOnB;
pointOnA -= tmpNormalInB * marginA ;
pointOnB += tmpNormalInB * marginB ;
normalInB = tmpNormalInB;
isValid = true;
m_lastUsedMethod = 6;