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diff --git a/include/bounce/dynamics/joints/cone_joint.h b/include/bounce/dynamics/joints/cone_joint.h
index d51b20d..932848b 100644
--- a/include/bounce/dynamics/joints/cone_joint.h
+++ b/include/bounce/dynamics/joints/cone_joint.h
@@ -49,9 +49,9 @@ struct b3ConeJointDef : public b3JointDef
};
// This joint constrains the bodies to share a common point (cone tip).
-// The relative rotation about the shared axis is the joint angle.
-// If the joint angle exceeds the half-cone angle then the axis is shared.
-// You can limit the relative rotation with a lower angle limit.
+// It also constrains the relative rotation about an axis perpendicular
+// to the cone axis.
+// You can limit the relative rotation with a cone angle limit.
// This joint can be used to create structures such as ragdolls.
class b3ConeJoint : public b3Joint
{
diff --git a/readme.md b/readme.md
index 6c070ee..08deedd 100644
--- a/readme.md
+++ b/readme.md
@@ -1,3 +1,5 @@
+About
+
Bounce is a 3D physics engine for games and interactive applications.
To get started with Bounce see readme.txt.
@@ -14,8 +16,6 @@ Camera (as in Maya):
Bounce is released under the zlib license.
-Irlan Robson
-
Features
diff --git a/readme.txt b/readme.txt
index 465b62f..c46bac9 100644
--- a/readme.txt
+++ b/readme.txt
@@ -2,7 +2,7 @@ Welcome!
Bounce is a 3D physics engine for games and interactive applications.
-See building.txt to read how to build Bounce. Bounce comes with a Visual Studio 2015 build by default.
+See building.txt to read how to build Bounce.
See documenting.txt to read how to generate the documentation for Bounce.
diff --git a/src/bounce/dynamics/contact_manager.cpp b/src/bounce/dynamics/contact_manager.cpp
index 88b970a..774e8c0 100644
--- a/src/bounce/dynamics/contact_manager.cpp
+++ b/src/bounce/dynamics/contact_manager.cpp
@@ -86,8 +86,12 @@ void b3ContactManager::AddPair(void* dataA, void* dataB)
}
}
- // Allocate a new contact.
+ // Create contact.
b3Contact* c = Create(shapeA, shapeB);
+ if (c == NULL)
+ {
+ return;
+ }
// Get the shapes from the contact again
// because contact creation will swap the shapes if typeA > typeB.
@@ -255,7 +259,7 @@ b3Contact* b3ContactManager::Create(b3Shape* shapeA, b3Shape* shapeB)
else
{
// Collisions between meshes are not implemented.
- //B3_ASSERT(false);
+ return NULL;
}
}
diff --git a/src/bounce/dynamics/contacts/contact_cluster.cpp b/src/bounce/dynamics/contacts/contact_cluster.cpp
index b44f5ad..0c3c672 100644
--- a/src/bounce/dynamics/contacts/contact_cluster.cpp
+++ b/src/bounce/dynamics/contacts/contact_cluster.cpp
@@ -29,7 +29,8 @@ inline void AddCluster(b3Array& clusters, const b3Vec3& centroid)
if (dd < kTol * kTol)
{
// Merge the clusters.
- clusters[i].centroid = 0.5f * (clusters[i].centroid + centroid);
+ clusters[i].centroid += centroid;
+ clusters[i].centroid.Normalize();
return;
}
}
@@ -58,14 +59,15 @@ void b3InitializeClusters(b3Array& outClusters, const b3Array 3);
// This is used to skip observations that were
- // assigned to a cluster.
+ // used to initialize a cluster centroid.
b3StackArray chosens;
chosens.Resize(inObs.Count());
for (u32 i = 0; i < inObs.Count(); ++i)
{
chosens[i] = false;
}
-
+
+ // Choose the most opposing faces.
{
u32 index = 0;
const b3Observation& o = inObs[index];
@@ -195,10 +197,7 @@ inline u32 b3BestCluster(const b3Array& clusters, const b3Vec3& point
void b3Clusterize(b3Array& outClusters, b3Array& outObservations,
const b3Array& inClusters, const b3Array& inObservations)
{
- //B3_ASSERT(!inObservations.IsEmpty());
B3_ASSERT(outObservations.IsEmpty());
-
- //B3_ASSERT(!inClusters.IsEmpty());
B3_ASSERT(outClusters.IsEmpty());
// Temporary data
@@ -208,7 +207,7 @@ void b3Clusterize(b3Array& outClusters, b3Array& outOb
b3StackArray observations;
observations.Swap(inObservations);
- // Termination criteria for k-means clustering
+ // Termination criteria for k-means clustering
const u32 kMaxIters = 10;
u32 iter = 0;
@@ -242,7 +241,7 @@ void b3Clusterize(b3Array& outClusters, b3Array& outOb
if (pointCount > 0)
{
- centroid *= 1.0f / float32(pointCount);
+ centroid /= float32(pointCount);
cluster.centroid = centroid;
}
}
diff --git a/src/testbed/framework/main.cpp b/src/testbed/framework/main.cpp
index 36576de..7396294 100644
--- a/src/testbed/framework/main.cpp
+++ b/src/testbed/framework/main.cpp
@@ -342,7 +342,7 @@ void Run()
if (g_settings.drawGrid)
{
- u32 n = 20;
+ int n = 20;
b3Vec3 t;
t.x = -0.5f * float32(n);