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try to catch a rare failure case (debugmode-printf)

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ejcoumans
2006-05-26 20:25:18 +00:00
parent 2529aebc79
commit e31711a4d9
1 changed files with 16 additions and 15 deletions
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31
Bullet/NarrowPhaseCollision/GjkPairDetector.cpp
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@@ -23,7 +23,7 @@ SimdScalar rel_error2 = rel_error * rel_error;
float maxdist2 = 1.e30f; float maxdist2 = 1.e30f;
int maxIter=1000; int gGjkMaxIter=1000;
GjkPairDetector::GjkPairDetector(ConvexShape* objectA,ConvexShape* objectB,SimplexSolverInterface* simplexSolver,ConvexPenetrationDepthSolver* penetrationDepthSolver) GjkPairDetector::GjkPairDetector(ConvexShape* objectA,ConvexShape* objectB,SimplexSolverInterface* simplexSolver,ConvexPenetrationDepthSolver* penetrationDepthSolver)
:m_cachedSeparatingAxis(0.f,0.f,1.f), :m_cachedSeparatingAxis(0.f,0.f,1.f),
@@ -69,21 +69,22 @@ int curIter = 0;
while (true) while (true)
{ {
if (curIter++ > maxIter) //rare failure case, perhaps deferate shapes?
{ if (curIter++ > gGjkMaxIter)
#ifdef DEBUG {
printf("GjkPairDetector maxIter exceeded:%i\n",curIter); #if defined(DEBUG) || defined (_DEBUG)
printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n", printf("GjkPairDetector maxIter exceeded:%i\n",curIter);
m_cachedSeparatingAxis.getX(), printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n",
m_cachedSeparatingAxis.getY(), m_cachedSeparatingAxis.getX(),
m_cachedSeparatingAxis.getZ(), m_cachedSeparatingAxis.getY(),
squaredDistance, m_cachedSeparatingAxis.getZ(),
m_minkowskiA->GetShapeType(), squaredDistance,
m_minkowskiB->GetShapeType()); m_minkowskiA->GetShapeType(),
#endif m_minkowskiB->GetShapeType());
break; #endif
break;
} }
SimdVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis(); SimdVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis();
SimdVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis(); SimdVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis();