Fix issue in GJK algorithm when numerical issue occurs

2017-09-07 22:23:00 +02:00 · 2017-09-07 22:23:00 +02:00 · 1b82a3e228
commit 1b82a3e228
parent dd91f6dcbf
1 changed files with 1 additions and 1 deletions
--- a/src/collision/narrowphase/GJK/GJKAlgorithm.cpp
+++ b/src/collision/narrowphase/GJK/GJKAlgorithm.cpp
@ -198,7 +198,7 @@ GJKAlgorithm::GJKResult GJKAlgorithm::testCollision(NarrowPhaseInfo* narrowPhase

        // If the penetration depth is negative (due too numerical errors), there is no contact
        if (penetrationDepth <= decimal(0.0)) {
-            return GJKResult::INTERPENETRATE;
+            return GJKResult::SEPARATED;
        }

        // Do not generate a contact point with zero normal length