diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp | 15 |
1 files changed, 13 insertions, 2 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp index 81133670f0c..f6c1e32ac7c 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp @@ -26,7 +26,7 @@ m_triangle(triangle) } -void SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw) +void SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults) { (void)debugDraw; @@ -42,7 +42,16 @@ void SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Res if (collide(sphereInTr.getOrigin(),point,normal,depth,timeOfImpact)) { - output.addContactPoint(transformB.getBasis()*normal,transformB*point,depth); + if (swapResults) + { + btVector3 normalOnB = transformB.getBasis()*normal; + btVector3 normalOnA = -normalOnB; + btVector3 pointOnA = transformB*point+normalOnB*depth; + output.addContactPoint(normalOnA,pointOnA,depth); + } else + { + output.addContactPoint(transformB.getBasis()*normal,transformB*point,depth); + } } } @@ -53,6 +62,8 @@ void SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Res // See also geometrictools.com // Basic idea: D = |p - (lo + t0*lv)| where t0 = lv . (p - lo) / lv . lv +btScalar SegmentSqrDistance(const btVector3& from, const btVector3& to,const btVector3 &p, btVector3 &nearest); + btScalar SegmentSqrDistance(const btVector3& from, const btVector3& to,const btVector3 &p, btVector3 &nearest) { btVector3 diff = p - from; btVector3 v = to - from; |