[ODE] cylinder plane bug

[Tomek Klin]

bad link

http://www.klinik.freehost.pl/filmiki/cylinder_plane_bug.avi

> Hi,

> I find one bug in cylinder vs plane collide.
> www.klinik.frehost.pl/filmiki/cylinder_plane_bug.avi
> this is hapend when center of bottom disk intersect a plane.

> I fixed this bug, but a think that problem is in isect_disc_plane(...)
> or in isect_plane_plane(...)



> collide_cylinder_plane.cpp (line 335)

>   if (top_disc_does_intersect)
>   {
> +   if (dDOT(doi_top,planenorm)>0)
> +      dVector3Scale(doi_top,-1);
>     dContactGeom *Contact = SAFECONTACT(flags, contact, nContacts, skip);
>     dVector3 tmp;
>     dVector3Copy(doi_top, tmp);
>     dVector3Scale(tmp, radius);
>     dVector3Add(disc_top_pos, tmp, Contact->pos);
>     // Note: ODE convention is: normal points *into* g1
>     Contact->g1 = cylgeom;
>     Contact->g2 = planegeom;
>     dVector3Copy(planenorm, Contact->normal);
>     dReal d = depth_top * dDOT(planenorm, doi_top);
>     Contact->depth = dFabs(d);
>     nContacts++;
>   }

>   if (bot_disc_does_intersect)
>   {
> +   if (dDOT(doi_bot,planenorm)>0)
> +        dVector3Scale(doi_bot,-1);
>     dContactGeom *Contact = SAFECONTACT(flags, contact, nContacts, skip);
>     dVector3 tmp;
>     dVector3Copy(doi_bot, tmp);
>     dVector3Scale(tmp, radius);
>     dVector3Add(disc_bot_pos, tmp, Contact->pos);
>     // Note: ODE convention is: normal points *into* g1
>     Contact->g1 = cylgeom;
>     Contact->g2 = planegeom;
>     dVector3Copy(planenorm, Contact->normal);
>     dReal d = depth_bot * dDOT(planenorm, doi_bot);
>     Contact->depth = dFabs(d);
>     nContacts++;
>   }

> ps. I'm sorry for my english :)



-- 
Pozdrowienia,
 Tomek Klin