From 2f601909423be819bf1d67e4535fe31cf8edb009 Mon Sep 17 00:00:00 2001
From: Daniel Chappuis <chappuis.daniel@gmail.com>
Date: Tue, 1 Aug 2017 15:57:46 +0200
Subject: [PATCH] Do not generate contact in GJK algorithm if not needed

---
 .../narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp     | 1 -
 src/collision/narrowphase/GJK/GJKAlgorithm.cpp             | 7 +++++--
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp
index be9cc05f..73a1dd13 100644
--- a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp
+++ b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp
@@ -122,7 +122,6 @@ bool CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfo* narrowPh
                     break;
                 }
             }
-
         }
 
         narrowPhaseInfo->overlappingPair->getLastFrameCollisionInfo().wasUsingSAT = false;
diff --git a/src/collision/narrowphase/GJK/GJKAlgorithm.cpp b/src/collision/narrowphase/GJK/GJKAlgorithm.cpp
index ff81782f..10d344f1 100644
--- a/src/collision/narrowphase/GJK/GJKAlgorithm.cpp
+++ b/src/collision/narrowphase/GJK/GJKAlgorithm.cpp
@@ -207,8 +207,11 @@ GJKAlgorithm::GJKResult GJKAlgorithm::testCollision(NarrowPhaseInfo* narrowPhase
             return GJKResult::INTERPENETRATE;
         }
 
-        // Add a new contact point
-        narrowPhaseInfo->addContactPoint(normal, penetrationDepth, pA, pB);
+        if (reportContacts) {
+
+            // Add a new contact point
+            narrowPhaseInfo->addContactPoint(normal, penetrationDepth, pA, pB);
+        }
 
         return GJKResult::COLLIDE_IN_MARGIN;
     }