From 528d7bfd450d93533378f527ceb2796a3efd07bd Mon Sep 17 00:00:00 2001
From: Daniel Chappuis <chappuis.daniel@gmail.com>
Date: Mon, 28 Jan 2019 18:51:04 +0100
Subject: [PATCH] Fix issue in SAT algorithm

---
 src/collision/narrowphase/SAT/SATAlgorithm.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/collision/narrowphase/SAT/SATAlgorithm.cpp b/src/collision/narrowphase/SAT/SATAlgorithm.cpp
index 2ca272fa..49c657c5 100644
--- a/src/collision/narrowphase/SAT/SATAlgorithm.cpp
+++ b/src/collision/narrowphase/SAT/SATAlgorithm.cpp
@@ -40,8 +40,8 @@
 using namespace reactphysics3d;
 
 // Static variables initialization
-const decimal SATAlgorithm::SEPARATING_AXIS_RELATIVE_TOLERANCE = decimal(1.02);
-const decimal SATAlgorithm::SEPARATING_AXIS_ABSOLUTE_TOLERANCE = decimal(0.005);
+const decimal SATAlgorithm::SEPARATING_AXIS_RELATIVE_TOLERANCE = decimal(1.002);
+const decimal SATAlgorithm::SEPARATING_AXIS_ABSOLUTE_TOLERANCE = decimal(0.0005);
 
 // Constructor
 SATAlgorithm::SATAlgorithm(MemoryAllocator& memoryAllocator) : mMemoryAllocator(memoryAllocator) {
@@ -698,7 +698,7 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn
 
         // We use penetration axis of polygon 1
         isMinPenetrationFaceNormal = true;
-        minPenetrationDepth = penetrationDepth1;
+        minPenetrationDepth = std::min(penetrationDepth1, penetrationDepth2);
         minFaceIndex = faceIndex1;
         isMinPenetrationFaceNormalPolyhedron1 = true;
     }
@@ -706,7 +706,7 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn
 
         // We use penetration axis of polygon 2
         isMinPenetrationFaceNormal = true;
-        minPenetrationDepth = penetrationDepth2;
+        minPenetrationDepth = std::min(penetrationDepth1, penetrationDepth2);
         minFaceIndex = faceIndex2;
         isMinPenetrationFaceNormalPolyhedron1 = false;
     }