diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp | 8 |
1 files changed, 5 insertions, 3 deletions
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp index 6551cfb92fe..2f41b3c2757 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp @@ -135,6 +135,9 @@ bool btContinuousConvexCollision::calcTimeOfImpact( //btScalar clippedDist = GEN_min(angularConservativeRadius,dist); //btScalar clippedDist = dist; + //don't report time of impact for motion away from the contact normal (or causes minor penetration) + if ((projectedLinearVelocity+ maxAngularProjectedVelocity)<=SIMD_EPSILON) + return false; dLambda = dist / (projectedLinearVelocity+ maxAngularProjectedVelocity); @@ -196,11 +199,10 @@ bool btContinuousConvexCollision::calcTimeOfImpact( } } - - //don't report time of impact for motion away from the contact normal (or causes minor penetration) + if ((projectedLinearVelocity+ maxAngularProjectedVelocity)<=result.m_allowedPenetration)//SIMD_EPSILON) return false; - + result.m_fraction = lambda; result.m_normal = n; result.m_hitPoint = c; |