Closed GoogleCodeExporter closed 9 years ago
Attached a simple test program. It uses the sparse SDF to scan a section around
the centre of the top of a cube. The sparse SDF uses the GJK/EPA code to
compute distances to the surface, and from that derive normals.
The expected normal is (0,1,0). Current implementation of EPA shows many errors
with normals being off by up to 90 degrees. Patched code passes with no errors.
Original comment by ja...@orcon.net.nz
on 13 Mar 2012 at 12:20
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[deleted comment]
Thanks a lot for the report and test.
The patch breaks the attached BasicDemo. It forces the use of GJK/EPA instead
of the box-box algorithm. I haven't looked into why yet, perhaps you can check
it out? (just copy the files over Bullet/Demos/BasicDemo)
Original comment by erwin.coumans
on 14 Mar 2012 at 4:40
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There is indeed a numeric instability in the patch. This one should work better.
Original comment by ja...@orcon.net.nz
on 15 Mar 2012 at 6:26
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I reviewed your patch and it looks good to go. I do a bit more testing and
commit it.
Thanks a lot for this!
Original comment by erwin.coumans
on 16 Mar 2012 at 1:43
Fixed in latest trunk: http://code.google.com/p/bullet/source/detail?r=2533
Thanks again,
Erwin
Original comment by erwin.coumans
on 16 Mar 2012 at 7:00
Original issue reported on code.google.com by
ja...@orcon.net.nz
on 12 Mar 2012 at 9:24Attachments: