Changeset 7983 for code/branches/kicklib/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.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/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp (modified) (2 diffs)

code/branches/kicklib/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp

@@ -33 +33 @@
         (void)simplexSolver;
 
-        const btScalar                          radialmargin(btScalar(0.));
+//      const btScalar                          radialmargin(btScalar(0.));
         
         btVector3       guessVector(transformA.getOrigin()-transformB.getOrigin());
         btGjkEpaSolver2::sResults       results;
+        
+
         if(btGjkEpaSolver2::Penetration(pConvexA,transformA,
                                                                 pConvexB,transformB,
@@ -46 +48 @@
                 wWitnessOnA = results.witnesses[0];
                 wWitnessOnB = results.witnesses[1];
+                v = results.normal;
                 return true;            
+                } else
+        {
+                if(btGjkEpaSolver2::Distance(pConvexA,transformA,pConvexB,transformB,guessVector,results))
+                {
+                        wWitnessOnA = results.witnesses[0];
+                        wWitnessOnB = results.witnesses[1];
+                        v = results.normal;
+                        return false;
                 }
+        }
 
         return false;