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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
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6
src/LinearMath/btQuaternion.h
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@@ -387,7 +387,11 @@ shortestArcQuat(const btVector3& v0, const btVector3& v1) // Game Programming Ge
btScalar d = v0.dot(v1);
if (d < -1.0 + SIMD_EPSILON)
return btQuaternion(0.0f,1.0f,0.0f,0.0f); // just pick any vector
{
btVector3 n,unused;
btPlaneSpace1(v0,n,unused);
return btQuaternion(n.x(),n.y(),n.z(),0.0f); // just pick any vector that is orthogonal to v0
}
btScalar s = btSqrt((1.0f + d) * 2.0f);
btScalar rs = 1.0f / s;