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Update btSoftBody to handle close to degenerate triangles.

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This commit is contained in:
Matt Bennice
2022-08-11 11:09:08 -07:00
parent a1d96646c8
commit c7a67d509e
1 changed files with 10 additions and 0 deletions
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10
src/BulletSoftBody/btSoftBody.cpp
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@@ -2816,6 +2816,16 @@ 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;
if (denom == btScalar(0.0))
{
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.setY((d11 * d20 - d01 * d21) / denom);
bary.setZ((d00 * d21 - d01 * d20) / denom);
bary.setX(btScalar(1) - bary.getY() - bary.getZ());