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Bugfix for #26795 and #26917, Fix a bug that cause the radar sensor to break

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Never memset(&ob, 0,sizeof(class)) when there is a constructor, it overrides all memory.
The problem was that the memset(0) was setting the scaling to (0,0,0), the height of the cone became 'infinity' 
so GJK would iterate 'MAX_ITER' without converging due to this #NAN value
This commit is contained in:
Erwin Coumans
2011-04-20 04:55:58 +00:00
parent 37fcffd0ac
commit b5a2d7f15e
2 changed files with 38 additions and 2 deletions
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34
source/gameengine/Physics/Bullet/CcdPhysicsController.h
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@@ -252,8 +252,40 @@ struct CcdConstructionInfo
m_inertiaFactor(1.f), m_inertiaFactor(1.f),
m_do_anisotropic(false), m_do_anisotropic(false),
m_anisotropicFriction(1.f,1.f,1.f), m_anisotropicFriction(1.f,1.f,1.f),
m_contactProcessingThreshold(1e10) m_contactProcessingThreshold(1e10f),
m_soft_linStiff(1.f),
m_soft_angStiff(1.f),
m_soft_volume(1.f),
m_soft_viterations(0),
m_soft_piterations(1),
m_soft_diterations(0),
m_soft_citerations(4),
m_do_fh(false),
m_do_rot_fh(false),
m_fh_spring(0.f),
m_fh_damping(0.f),
m_fh_distance(1.f),
m_fh_normal(false),
m_soft_kVCF(1.f),
m_soft_kDG(0.f),
m_soft_kLF(0.f),
m_soft_kDP(0.f),
m_soft_kPR(0.f),
m_soft_kVC(0.f),
m_soft_kDF(0.2f),
m_soft_kMT(0),
m_soft_kCHR(1.0f),
m_soft_kKHR(0.1f),
m_soft_kSHR(1.0f),
m_soft_kAHR(0.7f),
m_soft_kSRHR_CL(0.1f),
m_soft_kSKHR_CL(1.f),
m_soft_kSSHR_CL(0.5f),
m_soft_kSR_SPLT_CL(0.5f),
m_soft_kSK_SPLT_CL(0.5f),
m_soft_kSS_SPLT_CL(0.5f)
{ {
} }
btVector3 m_localInertiaTensor; btVector3 m_localInertiaTensor;

6
source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
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@@ -592,6 +592,9 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep,float
float subStep = timeStep / float(m_numTimeSubSteps); float subStep = timeStep / float(m_numTimeSubSteps);
i = m_dynamicsWorld->stepSimulation(interval,25,subStep);//perform always a full simulation step i = m_dynamicsWorld->stepSimulation(interval,25,subStep);//perform always a full simulation step
//uncomment next line to see where Bullet spend its time (printf in console)
//CProfileManager::dumpAll();
processFhSprings(curTime,i*subStep); processFhSprings(curTime,i*subStep);
for (it=m_controllers.begin(); it!=m_controllers.end(); it++) for (it=m_controllers.begin(); it!=m_controllers.end(); it++)
@@ -2759,7 +2762,8 @@ int CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
PHY_IPhysicsController* CcdPhysicsEnvironment::CreateConeController(float coneradius,float coneheight) PHY_IPhysicsController* CcdPhysicsEnvironment::CreateConeController(float coneradius,float coneheight)
{ {
CcdConstructionInfo cinfo; CcdConstructionInfo cinfo;
memset(&cinfo, 0, sizeof(cinfo)); /* avoid uninitialized values */ //don't memset cinfo: this is C++ and values should be set in the constructor!
// we don't need a CcdShapeConstructionInfo for this shape: // we don't need a CcdShapeConstructionInfo for this shape:
// it is simple enough for the standard copy constructor (see CcdPhysicsController::GetReplica) // it is simple enough for the standard copy constructor (see CcdPhysicsController::GetReplica)
cinfo.m_collisionShape = new btConeShape(coneradius,coneheight); cinfo.m_collisionShape = new btConeShape(coneradius,coneheight);