diff options
| author | Erwin Coumans <blender@erwincoumans.com> | 2006-05-24 02:35:31 +0400 |
|---|---|---|
| committer | Erwin Coumans <blender@erwincoumans.com> | 2006-05-24 02:35:31 +0400 |
| commit | 2c9214bcc9f9afd38f2e21334c188b182d86f694 (patch) | |
| tree | 49e833b4b1e1b481ea2806e1937cc55660d7cdbf /extern | |
| parent | 7198a6cf6633fa7a5bb48647d973ce41f8fd3561 (diff) | |
improved GJK accuracy for large objects
Diffstat (limited to 'extern')
| -rw-r--r-- | extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.cpp | 14 |
1 files changed, 6 insertions, 8 deletions
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.cpp index f497a77d7e5..2cdf2ff074f 100644 --- a/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.cpp +++ b/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.cpp @@ -18,7 +18,7 @@ subject to the following restrictions: #include "NarrowPhaseCollision/SimplexSolverInterface.h" #include "NarrowPhaseCollision/ConvexPenetrationDepthSolver.h" -static const SimdScalar rel_error = SimdScalar(1.0e-3); +static const SimdScalar rel_error = SimdScalar(1.0e-5); SimdScalar rel_error2 = rel_error * rel_error; float maxdist2 = 1.e30f; @@ -119,7 +119,8 @@ void GjkPairDetector::GetClosestPoints(const ClosestPointInput& input,Result& ou checkSimplex = true; break; } - bool check = (!m_simplexSolver->fullSimplex() && squaredDistance > SIMD_EPSILON * m_simplexSolver->maxVertex()); + bool check = (!m_simplexSolver->fullSimplex()); + //&& squaredDistance > SIMD_EPSILON * m_simplexSolver->maxVertex()); if (!check) { @@ -135,7 +136,7 @@ void GjkPairDetector::GetClosestPoints(const ClosestPointInput& input,Result& ou normalInB = pointOnA-pointOnB; float lenSqr = m_cachedSeparatingAxis.length2(); //valid normal - if (lenSqr > SIMD_EPSILON) + if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON)) { float rlen = 1.f / SimdSqrt(lenSqr ); normalInB *= rlen; //normalize @@ -151,10 +152,7 @@ void GjkPairDetector::GetClosestPoints(const ClosestPointInput& input,Result& ou if (checkPenetration && !isValid) { //penetration case - - //m_minkowskiA->SetMargin(marginA); - //m_minkowskiB->SetMargin(marginB); - + //if there is no way to handle penetrations, bail out if (m_penetrationDepthSolver) { @@ -171,7 +169,7 @@ void GjkPairDetector::GetClosestPoints(const ClosestPointInput& input,Result& ou { normalInB = pointOnB-pointOnA; float lenSqr = normalInB.length2(); - if (lenSqr > SIMD_EPSILON) + if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON)) { normalInB /= SimdSqrt(lenSqr); distance = -(pointOnA-pointOnB).length(); |