diff options
Diffstat (limited to 'extern/bullet2/src/LinearMath/btGrahamScan2dConvexHull.h')
| -rw-r--r-- | extern/bullet2/src/LinearMath/btGrahamScan2dConvexHull.h | 19 |
1 files changed, 16 insertions, 3 deletions
diff --git a/extern/bullet2/src/LinearMath/btGrahamScan2dConvexHull.h b/extern/bullet2/src/LinearMath/btGrahamScan2dConvexHull.h index e658c5cf062..13a79aa5856 100644 --- a/extern/bullet2/src/LinearMath/btGrahamScan2dConvexHull.h +++ b/extern/bullet2/src/LinearMath/btGrahamScan2dConvexHull.h @@ -85,9 +85,17 @@ inline void GrahamScanConvexHull2D(btAlignedObjectArray<GrahamVector3>& original originalPoints[0].m_angle = -1e30f; for (int i=1;i<originalPoints.size();i++) { - btVector3 xvec = axis0; - btVector3 ar = originalPoints[i]-originalPoints[0]; - originalPoints[i].m_angle = btCross(xvec, ar).dot(normalAxis) / ar.length(); + btVector3 ar = originalPoints[i]-originalPoints[0]; + btScalar ar1 = axis1.dot(ar); + btScalar ar0 = axis0.dot(ar); + if( ar1*ar1+ar0*ar0 < FLT_EPSILON ) + { + originalPoints[i].m_angle = 0.0f; + } + else + { + originalPoints[i].m_angle = btAtan2Fast(ar1, ar0); + } } //step 2: sort all points, based on 'angle' with this anchor @@ -111,6 +119,11 @@ inline void GrahamScanConvexHull2D(btAlignedObjectArray<GrahamVector3>& original else hull.push_back(originalPoints[i]); } + + if( hull.size() == 1 ) + { + hull.push_back( originalPoints[i] ); + } } } |