diff options
| author | Erwin Coumans <blender@erwincoumans.com> | 2006-06-15 17:39:05 +0400 |
|---|---|---|
| committer | Erwin Coumans <blender@erwincoumans.com> | 2006-06-15 17:39:05 +0400 |
| commit | 986f999671bad332b6bedc9e5ec8160d71cb515a (patch) | |
| tree | f1a2f6ddffb8e5fad3939055a6a9aac90e8472cd /extern | |
| parent | a31829fe2044c9be14b93c0a2d260a159adb95e5 (diff) | |
try to catch error/ freezing reported on OSX
Diffstat (limited to 'extern')
| -rw-r--r-- | extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.cpp | 41 |
1 files changed, 40 insertions, 1 deletions
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.cpp index 2cdf2ff074f..bcaf84a87c2 100644 --- a/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.cpp +++ b/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.cpp @@ -21,8 +21,11 @@ subject to the following restrictions: static const SimdScalar rel_error = SimdScalar(1.0e-5); SimdScalar rel_error2 = rel_error * rel_error; float maxdist2 = 1.e30f; +#include <stdio.h> +int gGjkMaxIter=1000; +bool gIrregularCatch = true; GjkPairDetector::GjkPairDetector(ConvexShape* objectA,ConvexShape* objectB,SimplexSolverInterface* simplexSolver,ConvexPenetrationDepthSolver* penetrationDepthSolver) :m_cachedSeparatingAxis(0.f,0.f,1.f), @@ -50,6 +53,8 @@ void GjkPairDetector::GetClosestPoints(const ClosestPointInput& input,Result& ou marginB = 0.f; } +int curIter = 0; + bool isValid = false; bool checkSimplex = false; bool checkPenetration = true; @@ -66,6 +71,7 @@ void GjkPairDetector::GetClosestPoints(const ClosestPointInput& input,Result& ou while (true) { + SimdVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis(); SimdVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis(); @@ -120,7 +126,7 @@ void GjkPairDetector::GetClosestPoints(const ClosestPointInput& input,Result& ou 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) { @@ -128,6 +134,39 @@ void GjkPairDetector::GetClosestPoints(const ClosestPointInput& input,Result& ou m_simplexSolver->backup_closest(m_cachedSeparatingAxis); break; } + + //rare failure case, perhaps deferate shapes? + if (curIter++ > gGjkMaxIter) + { + +#define CATCH_ME 1 +#ifdef CATCH_ME +//this should not happen, we need to catch it +//#if defined(DEBUG) || defined (_DEBUG) + if (gIrregularCatch) + { + gIrregularCatch = false; + + printf("GjkPairDetector maxIter exceeded:%i\n",curIter); + printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n", + m_cachedSeparatingAxis.getX(), + m_cachedSeparatingAxis.getY(), + m_cachedSeparatingAxis.getZ(), + squaredDistance, + m_minkowskiA->GetShapeType(), + m_minkowskiB->GetShapeType()); + + printf("If you can reproduce this, please email bugs@continuousphysics.com\n"); + printf("Please include above information, your Platform, version of OS.\n"); + printf("Thanks.\n"); + } +//#endif +#endif //CATCH_ME + + break; + + } + } if (checkSimplex) |