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Differential D1739 Diff 5899 extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp

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extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp

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btScalar angle2 = 0; btScalar angle2 = 0;
btScalar ang4 = 0.f; btScalar ang4 = 0.f;
btVector3 calculatedEdge = edgeCrossA.cross(edgeCrossB); btVector3 calculatedEdge = edgeCrossA.cross(edgeCrossB);
btScalar len2 = calculatedEdge.length2(); btScalar len2 = calculatedEdge.length2();
btScalar correctedAngle(0); btScalar correctedAngle(0);
btVector3 calculatedNormalB = normalA; //btVector3 calculatedNormalB = normalA;
bool isConvex = false; bool isConvex = false;
if (len2<m_triangleInfoMap->m_planarEpsilon) if (len2<m_triangleInfoMap->m_planarEpsilon)
{ {
angle2 = 0.f; angle2 = 0.f;
ang4 = 0.f; ang4 = 0.f;
} else } else
{ {
calculatedEdge.normalize(); calculatedEdge.normalize();
btVector3 calculatedNormalA = calculatedEdge.cross(edgeCrossA); btVector3 calculatedNormalA = calculatedEdge.cross(edgeCrossA);
calculatedNormalA.normalize(); calculatedNormalA.normalize();
angle2 = btGetAngle(calculatedNormalA,edgeCrossA,edgeCrossB); angle2 = btGetAngle(calculatedNormalA,edgeCrossA,edgeCrossB);
ang4 = SIMD_PI-angle2; ang4 = SIMD_PI-angle2;
btScalar dotA = normalA.dot(edgeCrossB); btScalar dotA = normalA.dot(edgeCrossB);
///@todo: check if we need some epsilon, due to floating point imprecision ///@todo: check if we need some epsilon, due to floating point imprecision
isConvex = (dotA<0.); isConvex = (dotA<0.);
correctedAngle = isConvex ? ang4 : -ang4; correctedAngle = isConvex ? ang4 : -ang4;
btQuaternion orn2(calculatedEdge,-correctedAngle);
calculatedNormalB = btMatrix3x3(orn2)*normalA;
} }
//alternatively use //alternatively use
//btVector3 calculatedNormalB2 = quatRotate(orn,normalA); //btVector3 calculatedNormalB2 = quatRotate(orn,normalA);
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