diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp | 11 |
1 files changed, 9 insertions, 2 deletions
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp index f1f3f7f7f6c..01fb1a4b068 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp @@ -35,7 +35,7 @@ int gNumGjkChecks = 0; -btGjkPairDetector::btGjkPairDetector(btConvexShape* objectA,btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver) +btGjkPairDetector::btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver) :m_cachedSeparatingAxis(btScalar(0.),btScalar(0.),btScalar(1.)), m_penetrationDepthSolver(penetrationDepthSolver), m_simplexSolver(simplexSolver), @@ -47,7 +47,7 @@ m_catchDegeneracies(1) { } -void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw) +void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults) { btScalar distance=btScalar(0.); btVector3 normalInB(btScalar(0.),btScalar(0.),btScalar(0.)); @@ -144,6 +144,13 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& break; } + if(m_cachedSeparatingAxis.length2()<REL_ERROR2) + { + m_degenerateSimplex = 6; + checkSimplex = true; + break; + } + btScalar previousSquaredDistance = squaredDistance; squaredDistance = m_cachedSeparatingAxis.length2(); |