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fixes to add improved double-precision for raycasts

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This commit is contained in:
ejcoumans 2007-02-14 04:10:55 +00:00
parent 9b94416d61
commit 42278e58dd
2 changed files with 16 additions and 2 deletions
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10
src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
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@ -28,8 +28,11 @@ m_convexA(convexA),m_convexB(convexB)
///Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degenerate cases.
///See discussion about this here http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=565
#ifdef BT_USE_DOUBLE_PRECISION
#define MAX_ITERATIONS 64
#else
#define MAX_ITERATIONS 32
#endif
bool btSubsimplexConvexCast::calcTimeOfImpact(
const btTransform& fromA,
const btTransform& toA,
@ -77,8 +80,11 @@ bool btSubsimplexConvexCast::calcTimeOfImpact(
btScalar dist2 = v.length2();
#ifdef BT_USE_DOUBLE_PRECISION
btScalar epsilon = btScalar(0.0001);
#else
btScalar epsilon = btScalar(0.0001);
#endif //BT_USE_DOUBLE_PRECISION
btVector3 w,p;
btScalar VdotR;

8
src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
View File

@ -435,11 +435,19 @@ int btVoronoiSimplexSolver::pointOutsideOfPlane(const btPoint3& p, const btPoint
btScalar signd = (d - a).dot( normal); // [AD AB AC]
#ifdef CATCH_DEGENERATE_TETRAHEDRON
#ifdef BT_USE_DOUBLE_PRECISION
if (signd * signd < (btScalar(1e-8) * btScalar(1e-8)))
{
return -1;
}
#else
if (signd * signd < (btScalar(1e-4) * btScalar(1e-4)))
{
// printf("affine dependent/degenerate\n");//
return -1;
}
#endif
#endif
// Points on opposite sides if expression signs are opposite
return signp * signd < btScalar(0.);