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| author | erwincoumans <erwin.coumans@gmail.com> | 2022-08-16 21:45:01 -0700 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2022-08-16 21:45:01 -0700 |
| commit | fd2fe1365acbd6ddad98ac85d88356dddea2a8b7 (patch) | |
| tree | 736c7d6b99533dfd472014173c5f0fe8768da3fb | |
| parent | a1d96646c8ca28b99b2581dcfc4d74cc3b4de018 (diff) | |
| parent | ee0100abbfebc19de560700bb4ad73064aa4c982 (diff) | |
| download | bullet3-fd2fe1365acbd6ddad98ac85d88356dddea2a8b7.tar.gz | |
Merge pull request #4321 from crewmatt/master
Update btSoftBody to handle close to degenerate triangles.
| -rw-r--r-- | src/BulletSoftBody/btSoftBody.cpp | 15 |
1 files changed, 12 insertions, 3 deletions
diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index e91c1b9a4..c873099b4 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -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()); } |