1 files changed, 15 insertions, 17 deletions

diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
index 280a4d355fd..1bc3056c013 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "btSphereTriangleCollisionAlgorithm.h"
 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
 #include "BulletCollision/CollisionShapes/btSphereShape.h"
@@ -21,15 +20,15 @@ subject to the following restrictions:
 #include "SphereTriangleDetector.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
-btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool swapped)
-: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
-m_ownManifold(false),
-m_manifoldPtr(mf),
-m_swapped(swapped)
+btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool swapped)
+	: btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
+	  m_ownManifold(false),
+	  m_manifoldPtr(mf),
+	  m_swapped(swapped)
 {
 	if (!m_manifoldPtr)
 	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
+		m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
 		m_ownManifold = true;
 	}
 }
@@ -43,36 +42,35 @@ btSphereTriangleCollisionAlgorithm::~btSphereTriangleCollisionAlgorithm()
 	}
 }
 
-void btSphereTriangleCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btSphereTriangleCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* col0Wrap, const btCollisionObjectWrapper* col1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
 	if (!m_manifoldPtr)
 		return;
 
-	const btCollisionObjectWrapper* sphereObjWrap = m_swapped? col1Wrap : col0Wrap;
-	const btCollisionObjectWrapper* triObjWrap = m_swapped? col0Wrap : col1Wrap;
+	const btCollisionObjectWrapper* sphereObjWrap = m_swapped ? col1Wrap : col0Wrap;
+	const btCollisionObjectWrapper* triObjWrap = m_swapped ? col0Wrap : col1Wrap;
 
 	btSphereShape* sphere = (btSphereShape*)sphereObjWrap->getCollisionShape();
 	btTriangleShape* triangle = (btTriangleShape*)triObjWrap->getCollisionShape();
-	
+
 	/// report a contact. internally this will be kept persistent, and contact reduction is done
 	resultOut->setPersistentManifold(m_manifoldPtr);
-	SphereTriangleDetector detector(sphere,triangle, m_manifoldPtr->getContactBreakingThreshold());
-	
+	SphereTriangleDetector detector(sphere, triangle, m_manifoldPtr->getContactBreakingThreshold() + resultOut->m_closestPointDistanceThreshold);
+
 	btDiscreteCollisionDetectorInterface::ClosestPointInput input;
-	input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);///@todo: tighter bounds
+	input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);  ///@todo: tighter bounds
 	input.m_transformA = sphereObjWrap->getWorldTransform();
 	input.m_transformB = triObjWrap->getWorldTransform();
 
 	bool swapResults = m_swapped;
 
-	detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw,swapResults);
+	detector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw, swapResults);
 
 	if (m_ownManifold)
 		resultOut->refreshContactPoints();
-	
 }
 
-btScalar btSphereTriangleCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+btScalar btSphereTriangleCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0, btCollisionObject* col1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
 	(void)resultOut;
 	(void)dispatchInfo;