diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp index 18eb662de2f..ec638f60ba5 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp @@ -65,10 +65,10 @@ bool btSubsimplexConvexCast::calcTimeOfImpact( btVector3 n; n.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); - bool hasResult = false; + btVector3 c; - btScalar lastLambda = lambda; + btScalar dist2 = v.length2(); @@ -109,9 +109,9 @@ bool btSubsimplexConvexCast::calcTimeOfImpact( //m_simplexSolver->reset(); //check next line w = supVertexA-supVertexB; - lastLambda = lambda; + n = v; - hasResult = true; + } } ///Just like regular GJK only add the vertex if it isn't already (close) to current vertex, it would lead to divisions by zero and NaN etc. @@ -121,7 +121,7 @@ bool btSubsimplexConvexCast::calcTimeOfImpact( if (m_simplexSolver->closest(v)) { dist2 = v.length2(); - hasResult = true; + //todo: check this normal for validity //n=v; //printf("V=%f , %f, %f\n",v[0],v[1],v[2]); |