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Merge pull request #1695 from erwincoumans/master

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Fix Issue #1623, SphereTriangleDetector
This commit is contained in:
erwincoumans
2018-05-22 16:40:45 +10:00
committed by GitHub
parent c491141a1f 62d58259bc
commit f74110a4c0
2 changed files with 5 additions and 3 deletions
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2
setup.py
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@@ -450,7 +450,7 @@ print("-----")
setup( setup(
name = 'pybullet', name = 'pybullet',
version='1.9.8', version='1.9.9',
description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning', description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.', long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
url='https://github.com/bulletphysics/bullet3', url='https://github.com/bulletphysics/bullet3',

6
src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
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@@ -132,6 +132,7 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po
else { else {
// Could be inside one of the contact capsules // Could be inside one of the contact capsules
btScalar contactCapsuleRadiusSqr = radiusWithThreshold*radiusWithThreshold; btScalar contactCapsuleRadiusSqr = radiusWithThreshold*radiusWithThreshold;
btScalar minDistSqr = contactCapsuleRadiusSqr;
btVector3 nearestOnEdge; btVector3 nearestOnEdge;
for (int i = 0; i < m_triangle->getNumEdges(); i++) { for (int i = 0; i < m_triangle->getNumEdges(); i++) {
@@ -141,8 +142,9 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po
m_triangle->getEdge(i, pa, pb); m_triangle->getEdge(i, pa, pb);
btScalar distanceSqr = SegmentSqrDistance(pa, pb, sphereCenter, nearestOnEdge); btScalar distanceSqr = SegmentSqrDistance(pa, pb, sphereCenter, nearestOnEdge);
if (distanceSqr < contactCapsuleRadiusSqr) { if (distanceSqr < minDistSqr) {
// Yep, we're inside a capsule // Yep, we're inside a capsule, and record the capsule with smallest distance
minDistSqr = distanceSqr;
hasContact = true; hasContact = true;
contactPoint = nearestOnEdge; contactPoint = nearestOnEdge;
} }