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Fix issue in SAT algorithm

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This commit is contained in:
Daniel Chappuis 2017-10-18 19:35:20 +02:00
parent de494bb0fd
commit 0250d8c4bd
1 changed files with 12 additions and 1 deletions
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13
src/collision/narrowphase/SAT/SATAlgorithm.cpp
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@ -731,7 +731,18 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn
bool contactsFound = computePolyhedronVsPolyhedronFaceContactPoints(isMinPenetrationFaceNormalPolyhedron1, polyhedron1,
polyhedron2, polyhedron1ToPolyhedron2, polyhedron2ToPolyhedron1,
minFaceIndex, narrowPhaseInfo, minPenetrationDepth);
assert(contactsFound);
// There should be clipping points here. If it is not the case, it might be
// because of a numerical issue
if (!contactsFound) {
lastFrameInfo.satIsAxisFacePolyhedron1 = isMinPenetrationFaceNormalPolyhedron1;
lastFrameInfo.satIsAxisFacePolyhedron2 = !isMinPenetrationFaceNormalPolyhedron1;
lastFrameInfo.satMinAxisFaceIndex = minFaceIndex;
// Return no collision
return false;
}
}
lastFrameInfo.satIsAxisFacePolyhedron1 = isMinPenetrationFaceNormalPolyhedron1;