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add a fudge factor to avoid degeneracies/failures in the box-box edge-edge separating axis tests.

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This commit is contained in:
erwin.coumans 2010-09-10 20:29:40 +00:00
parent f689a5e7ce
commit fc21378b48
1 changed files with 14 additions and 0 deletions
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14
src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
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@ -345,6 +345,20 @@ int dBoxBox2 (const btVector3& p1, const dMatrix3 R1,
} \
}
btScalar fudge2 (1.0e-5f);
Q11 += fudge2;
Q12 += fudge2;
Q13 += fudge2;
Q21 += fudge2;
Q22 += fudge2;
Q23 += fudge2;
Q31 += fudge2;
Q32 += fudge2;
Q33 += fudge2;
// separating axis = u1 x (v1,v2,v3)
TST(pp[2]*R21-pp[1]*R31,(A[1]*Q31+A[2]*Q21+B[1]*Q13+B[2]*Q12),0,-R31,R21,7);
TST(pp[2]*R22-pp[1]*R32,(A[1]*Q32+A[2]*Q22+B[0]*Q13+B[2]*Q11),0,-R32,R22,8);