ode-0.12-heightfield.patch

--- ode/src/heightfield.cpp	2011-02-15 16:43:31.000000000 +0100
+++ ode/src/heightfield.cpp	2020-01-23 14:26:32.000000000 +0100
@@ -239,7 +239,7 @@
 
 // returns whether point is over terrain Cell triangle?
 bool dxHeightfieldData::IsOnHeightfield2 ( const HeightFieldVertex * const CellCorner, 
-    const dReal * const pos,  const bool isABC) const
+    const dReal * const pos,  const bool isABC, dReal &epsilon) const
 {
     // WARNING!!!
     // This function must be written in the way to make sure that every point on
@@ -257,43 +257,43 @@
     {
         // point A
         MinX = CellCorner->vertex[0];
-        if (pos[0] < MinX)
+        if (pos[0] + epsilon < MinX)
             return false;
 
         MaxX = (CellCorner->coords[0] + 1) * m_fSampleWidth;
-        if (pos[0] >= MaxX)
+        if (pos[0] - epsilon >= MaxX)
             return false;
 
         MinZ = CellCorner->vertex[2];
-        if (pos[2] < MinZ)
+        if (pos[2] + epsilon < MinZ)
             return false;
 
         MaxZ = (CellCorner->coords[1] + 1) * m_fSampleDepth;
-        if (pos[2] >= MaxZ)
+        if (pos[2] - epsilon >= MaxZ)
             return false;
 
-        return (MaxZ - pos[2]) > (pos[0] - MinX) * m_fSampleZXAspect;
+        return (MaxZ - pos[2] + epsilon) > (pos[0] - MinX - epsilon) * m_fSampleZXAspect;
     }
     else
     {
         // point D
         MaxX = CellCorner->vertex[0];
-        if (pos[0] >= MaxX)
+        if (pos[0] - epsilon >= MaxX)
             return false;
 
         MinX = (CellCorner->coords[0] - 1) * m_fSampleWidth;
-        if (pos[0] < MinX)
+        if (pos[0] + epsilon < MinX)
             return false;
 
         MaxZ = CellCorner->vertex[2];
-        if (pos[2] >= MaxZ)
+        if (pos[2] - epsilon >= MaxZ)
             return false;
 
         MinZ = (CellCorner->coords[1] - 1) * m_fSampleDepth;
-        if (pos[2] < MinZ)
+        if (pos[2] + epsilon < MinZ)
             return false;
 
-        return (MaxZ - pos[2]) <= (pos[0] - MinX) * m_fSampleZXAspect;
+        return (MaxZ - pos[2] + epsilon) <= (pos[0] - MinX - epsilon) * m_fSampleZXAspect;
     }
 }
 
@@ -1477,12 +1477,13 @@
             {
                 dContactGeom *planeCurrContact = PlaneContact + i;
                 // Check if contact point found in plane is inside Triangle.
-                const dVector3 &pCPos = planeCurrContact->pos;
+                dVector3 pCPos;
+                dAddScaledVectors3(pCPos, planeCurrContact->pos, planeCurrContact->normal, 1.0, planeCurrContact->depth);
                 for (size_t b = 0; planeTriListSize > b; b++)
                 {  
                     if (m_p_data->IsOnHeightfield2 (itPlane->trianglelist[b]->vertices[0], 
                                                     pCPos, 
-                                                    itPlane->trianglelist[b]->isUp))
+                                                    itPlane->trianglelist[b]->isUp, planeCurrContact->depth))
                     {
 						pContact = CONTACT(contact, numTerrainContacts*skip);
 						dVector3Copy(pCPos, pContact->pos);
diff -ur ode-0.12/ode/src/heightfield.h ode/ode/src/heightfield.h
--- ode/src/heightfield.h	2009-02-05 09:19:38.000000000 +0100
+++ ode/src/heightfield.h	2020-01-29 14:03:54.000000000 +0100
@@ -66,7 +66,7 @@
     void ComputeHeightBounds();
 
     bool IsOnHeightfield2  ( const HeightFieldVertex * const CellCorner, 
-        const dReal * const pos,  const bool isABC) const;
+        const dReal * const pos,  const bool isABC, dReal &epsilon) const;
 
     dReal GetHeight(int x, int z);
     dReal GetHeight(dReal x, dReal z);