forked from bartvdbraak/blender
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
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@ -252,8 +252,40 @@ struct CcdConstructionInfo
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m_inertiaFactor(1.f),
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m_do_anisotropic(false),
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m_anisotropicFriction(1.f,1.f,1.f),
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m_contactProcessingThreshold(1e10)
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m_contactProcessingThreshold(1e10f),
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m_soft_linStiff(1.f),
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m_soft_angStiff(1.f),
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m_soft_volume(1.f),
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m_soft_viterations(0),
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m_soft_piterations(1),
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m_soft_diterations(0),
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m_soft_citerations(4),
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m_do_fh(false),
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m_do_rot_fh(false),
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m_fh_spring(0.f),
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m_fh_damping(0.f),
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m_fh_distance(1.f),
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m_fh_normal(false),
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m_soft_kVCF(1.f),
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m_soft_kDG(0.f),
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m_soft_kLF(0.f),
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m_soft_kDP(0.f),
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m_soft_kPR(0.f),
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m_soft_kVC(0.f),
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m_soft_kDF(0.2f),
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m_soft_kMT(0),
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m_soft_kCHR(1.0f),
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m_soft_kKHR(0.1f),
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m_soft_kSHR(1.0f),
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m_soft_kAHR(0.7f),
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m_soft_kSRHR_CL(0.1f),
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m_soft_kSKHR_CL(1.f),
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m_soft_kSSHR_CL(0.5f),
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m_soft_kSR_SPLT_CL(0.5f),
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m_soft_kSK_SPLT_CL(0.5f),
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m_soft_kSS_SPLT_CL(0.5f)
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{
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}
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btVector3 m_localInertiaTensor;
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@ -592,6 +592,9 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep,float
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float subStep = timeStep / float(m_numTimeSubSteps);
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i = m_dynamicsWorld->stepSimulation(interval,25,subStep);//perform always a full simulation step
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//uncomment next line to see where Bullet spend its time (printf in console)
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//CProfileManager::dumpAll();
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processFhSprings(curTime,i*subStep);
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for (it=m_controllers.begin(); it!=m_controllers.end(); it++)
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@ -2759,7 +2762,8 @@ int CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
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PHY_IPhysicsController* CcdPhysicsEnvironment::CreateConeController(float coneradius,float coneheight)
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{
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CcdConstructionInfo cinfo;
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memset(&cinfo, 0, sizeof(cinfo)); /* avoid uninitialized values */
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//don't memset cinfo: this is C++ and values should be set in the constructor!
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// we don't need a CcdShapeConstructionInfo for this shape:
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// it is simple enough for the standard copy constructor (see CcdPhysicsController::GetReplica)
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cinfo.m_collisionShape = new btConeShape(coneradius,coneheight);
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