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Merge pull request #4321 from crewmatt/master

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Update btSoftBody to handle close to degenerate triangles.
This commit is contained in:
erwincoumans 2022-08-16 21:45:01 -07:00 committed by GitHub
commit fd2fe1365a
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1 changed files with 12 additions and 3 deletions
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15
src/BulletSoftBody/btSoftBody.cpp
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@ -2807,7 +2807,7 @@ bool btSoftBody::checkDeformableContact(const btCollisionObjectWrapper* colObjWr
//
// Compute barycentric coordinates (u, v, w) for
// point p with respect to triangle (a, b, c)
static void getBarycentric(const btVector3& p, btVector3& a, btVector3& b, btVector3& c, btVector3& bary)
static void getBarycentric(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, btVector3& bary)
{
btVector3 v0 = b - a, v1 = c - a, v2 = p - a;
btScalar d00 = v0.dot(v0);
@ -2816,8 +2816,17 @@ static void getBarycentric(const btVector3& p, btVector3& a, btVector3& b, btVec
btScalar d20 = v2.dot(v0);
btScalar d21 = v2.dot(v1);
btScalar denom = d00 * d11 - d01 * d01;
bary.setY((d11 * d20 - d01 * d21) / denom);
bary.setZ((d00 * d21 - d01 * d20) / denom);
// In the case of a degenerate triangle, pick a vertex.
if (btFabs(denom) < SIMD_EPSILON)
{
bary.setY(btScalar(0.0));
bary.setZ(btScalar(0.0));
}
else
{
bary.setY((d11 * d20 - d01 * d21) / denom);
bary.setZ((d00 * d21 - d01 * d20) / denom);
}
bary.setX(btScalar(1) - bary.getY() - bary.getZ());
}