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fix roots sorting

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This commit is contained in:
Xuchen Han 2020-02-06 22:57:42 -08:00
parent 3bc701c487
commit 2f73c5130e
1 changed files with 21 additions and 1 deletions
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22
src/BulletSoftBody/btSoftBodyInternals.h
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@ -536,6 +536,14 @@ static SIMD_FORCE_INLINE bool bernsteinVFTest(const btSoftBody::Face* face, cons
return coplanarAndInsideTest(k0, k1, k2, k3, face, node, dt);
}
template <class T>
static SIMD_FORCE_INLINE void swap(T& a, T& b)
{
T temp = a;
a = b;
b = temp;
}
static SIMD_FORCE_INLINE bool continuousCollisionDetection(const btSoftBody::Face* face, const btSoftBody::Node* node, const btScalar& dt, const btScalar& mrg, btVector3& bary)
{
if (hasSeparatingPlane(face, node, dt))
@ -587,7 +595,19 @@ static SIMD_FORCE_INLINE bool continuousCollisionDetection(const btSoftBody::Fac
{
num_roots = SolveP3(roots, a2/a3, a1/a3, a0/a3);
}
std::sort(roots, roots+num_roots);
// std::sort(roots, roots+num_roots);
if (num_roots > 1)
{
if (roots[0] > roots[1])
swap(roots[0], roots[1]);
}
if (num_roots > 2)
{
if (roots[0] > roots[2])
swap(roots[0], roots[2]);
if (roots[1] > roots[2])
swap(roots[1], roots[2]);
}
for (int r = 0; r < num_roots; ++r)
{
double root = roots[r];