From d2a282dc07d02bcd8370505ed54f7075c661ef3f Mon Sep 17 00:00:00 2001 From: "erwin.coumans" Date: Tue, 30 Sep 2008 20:58:03 +0000 Subject: [PATCH] fixed issue with clamping/quantization in btAxisSweep3, Thanks to ole.k for report and fix: http://code.google.com/p/bullet/issues/detail?id=87 --- .../BroadphaseCollision/btAxisSweep3.h | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h b/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h index d0ad09a38..46c55a636 100644 --- a/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h +++ b/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h @@ -337,18 +337,22 @@ btAxisSweep3Internal::~btAxisSweep3Internal() template void btAxisSweep3Internal::quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const { +#ifdef OLD_CLAMPING_METHOD + ///problem with this clamping method is that the floating point during quantization might still go outside the range [(0|isMax) .. (m_handleSentinel&m_bpHandleMask]|isMax] + ///see http://code.google.com/p/bullet/issues/detail?id=87 btPoint3 clampedPoint(point); - - - clampedPoint.setMax(m_worldAabbMin); clampedPoint.setMin(m_worldAabbMax); - btVector3 v = (clampedPoint - m_worldAabbMin) * m_quantize; out[0] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getX() & m_bpHandleMask) | isMax); out[1] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getY() & m_bpHandleMask) | isMax); out[2] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getZ() & m_bpHandleMask) | isMax); - +#else + btVector3 v = (point - m_worldAabbMin) * m_quantize; + out[0]=(v[0]<=0)?(BP_FP_INT_TYPE)isMax:(v[0]>=m_handleSentinel)?(BP_FP_INT_TYPE)((m_handleSentinel&m_bpHandleMask)|isMax):(BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[0]&m_bpHandleMask)|isMax); + out[1]=(v[1]<=0)?(BP_FP_INT_TYPE)isMax:(v[1]>=m_handleSentinel)?(BP_FP_INT_TYPE)((m_handleSentinel&m_bpHandleMask)|isMax):(BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[1]&m_bpHandleMask)|isMax); + out[2]=(v[2]<=0)?(BP_FP_INT_TYPE)isMax:(v[2]>=m_handleSentinel)?(BP_FP_INT_TYPE)((m_handleSentinel&m_bpHandleMask)|isMax):(BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[2]&m_bpHandleMask)|isMax); +#endif //OLD_CLAMPING_METHOD }