Update btSoftBody to handle close to degenerate triangles.

imstylen · Aug 11, 2022 · c7a67d5 · c7a67d5
1 parent a1d9664
commit c7a67d5
Showing 1 changed file with 10 additions and 0 deletions.
diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp
@@ -2816,6 +2816,16 @@ static void getBarycentric(const btVector3& p, btVector3& a, btVector3& b, btVec
  btScalar d20 = v2.dot(v0);
  btScalar d21 = v2.dot(v1);
  btScalar denom = d00 * d11 - d01 * d01;
+ if (denom == btScalar(0.0)) 
+ {
+ bary.setY(btScalar(0.0));
+ bary.setZ(btScalar(0.0));
+ } 
+ else 
+ {
+ bary.setY((d11 * d20 - d01 * d21) / denom);
+ bary.setZ((d00 * d21 - d01 * d20) / denom);
+ }
  bary.setY((d11 * d20 - d01 * d21) / denom);
  bary.setZ((d00 * d21 - d01 * d20) / denom);
  bary.setX(btScalar(1) - bary.getY() - bary.getZ());