Changeset 8393 for code/trunk/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp

Timestamp:

May 3, 2011, 5:07:42 AM (13 years ago)

Author:

rgrieder

Message:

Updated Bullet from v2.77 to v2.78.
(I'm not going to make a branch for that since the update from 2.74 to 2.77 hasn't been tested that much either).

You will HAVE to do a complete RECOMPILE! I tested with MSVC and MinGW and they both threw linker errors at me.

File:

• code/trunk/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp (modified) (5 diffs)

code/trunk/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp

@@ -255 +255 @@
 #endif //
                         
-                        m_cachedSeparatingAxis = newCachedSeparatingAxis;
 
                         //redundant m_simplexSolver->compute_points(pointOnA, pointOnB);
@@ -262 +261 @@
                         if (previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance) 
                         { 
-                                m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
+//                              m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
                                 checkSimplex = true;
                                 m_degenerateSimplex = 12;
@@ -268 +267 @@
                                 break;
                         }
+
+                        m_cachedSeparatingAxis = newCachedSeparatingAxis;
 
                           //degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject   
@@ -295 +296 @@
                         {
                                 //do we need this backup_closest here ?
-                                m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
+//                              m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
                                 m_degenerateSimplex = 13;
                                 break;
@@ -304 +305 @@
                 {
                         m_simplexSolver->compute_points(pointOnA, pointOnB);
-                        normalInB = pointOnA-pointOnB;
+                        normalInB = m_cachedSeparatingAxis;
                         btScalar lenSqr =m_cachedSeparatingAxis.length2();