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Check entire basis column for zero size when unscaling Bullet basis.

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(cherry picked from commit 5278e07095)
This commit is contained in:
Marcel Admiraal 2020-10-02 09:39:49 +01:00 committed by Rémi Verschelde
parent 09a8dd7b3b
commit d9d9be07c2
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GPG key ID: C3336907360768E1
1 changed files with 7 additions and 7 deletions
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14
modules/bullet/bullet_types_converter.cpp
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@ -101,9 +101,9 @@ void UNSCALE_BT_BASIS(btTransform &scaledBasis) {
btVector3 column2 = basis.getColumn(2);
// Check for zero scaling.
if (btFuzzyZero(column0[0])) {
if (btFuzzyZero(column1[1])) {
if (btFuzzyZero(column2[2])) {
if (column0.fuzzyZero()) {
if (column1.fuzzyZero()) {
if (column2.fuzzyZero()) {
// All dimensions are fuzzy zero. Create a default basis.
column0 = btVector3(1, 0, 0);
column1 = btVector3(0, 1, 0);
@ -115,7 +115,7 @@ void UNSCALE_BT_BASIS(btTransform &scaledBasis) {
column0 = column1.cross(column2);
}
} else { // Column 1 scale not fuzzy zero.
if (btFuzzyZero(column2[2])) {
if (column2.fuzzyZero()) {
// Create two vectors othogonal to column 1.
// Ensure that a default basis is created if column 1 = <0, 1, 0>
column0 = btVector3(column1[1], -column1[0], 0);
@ -126,8 +126,8 @@ void UNSCALE_BT_BASIS(btTransform &scaledBasis) {
}
}
} else { // Column 0 scale not fuzzy zero.
if (btFuzzyZero(column1[1])) {
if (btFuzzyZero(column2[2])) {
if (column1.fuzzyZero()) {
if (column2.fuzzyZero()) {
// Create two vectors orthogonal to column 0.
// Ensure that a default basis is created if column 0 = <1, 0, 0>
column2 = btVector3(-column0[2], 0, column0[0]);
@ -137,7 +137,7 @@ void UNSCALE_BT_BASIS(btTransform &scaledBasis) {
column1 = column2.cross(column0);
}
} else { // Column 0 and column 1 scales not fuzzy zero.
if (btFuzzyZero(column2[2])) {
if (column2.fuzzyZero()) {
// Create column 2 orthogonal to column 0 and column 1.
column2 = column0.cross(column1);
}