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Fix issue in SAT algorithm

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This commit is contained in:
Daniel Chappuis 2019-01-28 18:51:04 +01:00
parent 6bcb586d52
commit 528d7bfd45
1 changed files with 4 additions and 4 deletions
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8
src/collision/narrowphase/SAT/SATAlgorithm.cpp
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@ -40,8 +40,8 @@
using namespace reactphysics3d; using namespace reactphysics3d;
// Static variables initialization // Static variables initialization
const decimal SATAlgorithm::SEPARATING_AXIS_RELATIVE_TOLERANCE = decimal(1.02); const decimal SATAlgorithm::SEPARATING_AXIS_RELATIVE_TOLERANCE = decimal(1.002);
const decimal SATAlgorithm::SEPARATING_AXIS_ABSOLUTE_TOLERANCE = decimal(0.005); const decimal SATAlgorithm::SEPARATING_AXIS_ABSOLUTE_TOLERANCE = decimal(0.0005);
// Constructor // Constructor
SATAlgorithm::SATAlgorithm(MemoryAllocator& memoryAllocator) : mMemoryAllocator(memoryAllocator) { SATAlgorithm::SATAlgorithm(MemoryAllocator& memoryAllocator) : mMemoryAllocator(memoryAllocator) {
@ -698,7 +698,7 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn
// We use penetration axis of polygon 1 // We use penetration axis of polygon 1
isMinPenetrationFaceNormal = true; isMinPenetrationFaceNormal = true;
minPenetrationDepth = penetrationDepth1; minPenetrationDepth = std::min(penetrationDepth1, penetrationDepth2);
minFaceIndex = faceIndex1; minFaceIndex = faceIndex1;
isMinPenetrationFaceNormalPolyhedron1 = true; isMinPenetrationFaceNormalPolyhedron1 = true;
} }
@ -706,7 +706,7 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn
// We use penetration axis of polygon 2 // We use penetration axis of polygon 2
isMinPenetrationFaceNormal = true; isMinPenetrationFaceNormal = true;
minPenetrationDepth = penetrationDepth2; minPenetrationDepth = std::min(penetrationDepth1, penetrationDepth2);
minFaceIndex = faceIndex2; minFaceIndex = faceIndex2;
isMinPenetrationFaceNormalPolyhedron1 = false; isMinPenetrationFaceNormalPolyhedron1 = false;
} }