Changeset 7983 for code/branches/kicklib/src/external/bullet/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp

Timestamp:

Feb 27, 2011, 7:43:24 AM (14 years ago)

Author:

rgrieder

Message:

Updated Bullet Physics Engine from v2.74 to v2.77

File:

• code/branches/kicklib/src/external/bullet/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp (modified) (9 diffs)

code/branches/kicklib/src/external/bullet/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp

@@ -1 @@
-
 /*
  * Box-Box collision detection re-distributed under the ZLib license with permission from Russell L. Smith
@@ -213 +212 @@
         } else
         {
-                a=1e30f;
+                a=BT_LARGE_FLOAT;
         }
     cx = a*(cx + q*(p[n*2-2]+p[0]));
@@ -268 +267 @@
 {
   const btScalar fudge_factor = btScalar(1.05);
-  btVector3 p,pp,normalC;
+  btVector3 p,pp,normalC(0.f,0.f,0.f);
   const btScalar *normalR = 0;
   btScalar A[3],B[3],R11,R12,R13,R21,R22,R23,R31,R32,R33,
@@ -334 +333 @@
 #define TST(expr1,expr2,n1,n2,n3,cc) \
   s2 = btFabs(expr1) - (expr2); \
-  if (s2 > 0) return 0; \
+  if (s2 > SIMD_EPSILON) return 0; \
   l = btSqrt((n1)*(n1) + (n2)*(n2) + (n3)*(n3)); \
-  if (l > 0) { \
+  if (l > SIMD_EPSILON) { \
     s2 /= l; \
     if (s2*fudge_factor > s) { \
@@ -346 +345 @@
     } \
   }
+
+  btScalar fudge2 (1.0e-5f);
+
+  Q11 += fudge2;
+  Q12 += fudge2;
+  Q13 += fudge2;
+
+  Q21 += fudge2;
+  Q22 += fudge2;
+  Q23 += fudge2;
+
+  Q31 += fudge2;
+  Q32 += fudge2;
+  Q33 += fudge2;
 
   // separating axis = u1 x (v1,v2,v3)
@@ -425 +438 @@
 #else
                 output.addContactPoint(-normal,pb,-*depth);
+
 #endif //
                 *return_code = code;
@@ -594 +608 @@
 
   if (cnum <= maxc) {
+
+          if (code<4) 
+          {
     // we have less contacts than we need, so we use them all
-    for (j=0; j < cnum; j++) {
-
-                //AddContactPoint...
-
-                //dContactGeom *con = CONTACT(contact,skip*j);
-      //for (i=0; i<3; i++) con->pos[i] = point[j*3+i] + pa[i];
-      //con->depth = dep[j];
-
+    for (j=0; j < cnum; j++) 
+        {
                 btVector3 pointInWorld;
                 for (i=0; i<3; i++) 
@@ -609 +620 @@
 
     }
+          } else
+          {
+                  // we have less contacts than we need, so we use them all
+                for (j=0; j < cnum; j++) 
+                {
+                        btVector3 pointInWorld;
+                        for (i=0; i<3; i++) 
+                                pointInWorld[i] = point[j*3+i] + pa[i]-normal[i]*dep[j];
+                                //pointInWorld[i] = point[j*3+i] + pa[i];
+                        output.addContactPoint(-normal,pointInWorld,-dep[j]);
+                }
+          }
   }
   else {
@@ -633 +656 @@
                 for (i=0; i<3; i++) 
                         posInWorld[i] = point[iret[j]*3+i] + pa[i];
-                output.addContactPoint(-normal,posInWorld,-dep[iret[j]]);
+                if (code<4) 
+           {
+                        output.addContactPoint(-normal,posInWorld,-dep[iret[j]]);
+                } else
+                {
+                        output.addContactPoint(-normal,posInWorld-normal*dep[iret[j]],-dep[iret[j]]);
+                }
     }
     cnum = maxc;