Changeset 7983 for code/branches/kicklib/src/external/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.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/btSubSimplexConvexCast.cpp (modified) (1 diff)

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

@@ -115 +115 @@
                         }
                 } 
-                m_simplexSolver->addVertex( w, supVertexA , supVertexB);
+                ///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.
+                if (!m_simplexSolver->inSimplex(w))
+                        m_simplexSolver->addVertex( w, supVertexA , supVertexB);
+
                 if (m_simplexSolver->closest(v))
                 {