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Fix issue in GJK algorithm

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This commit is contained in:
Daniel Chappuis 2017-01-19 20:29:40 +01:00
parent f2a6dde913
commit a50ae73663
1 changed files with 6 additions and 4 deletions
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10
src/collision/narrowphase/GJK/GJKAlgorithm.cpp
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@ -173,8 +173,6 @@ bool GJKAlgorithm::testCollision(const NarrowPhaseInfo* narrowPhaseInfo,
} while((isPolytopeShape && !simplex.isFull()) || (!isPolytopeShape && !simplex.isFull() &&
distSquare > MACHINE_EPSILON * simplex.getMaxLengthSquareOfAPoint()));
bool isEPAResultValid = false;
// If no contact has been found (penetration case)
if (!contactFound) {
@ -182,10 +180,14 @@ bool GJKAlgorithm::testCollision(const NarrowPhaseInfo* narrowPhaseInfo,
// again but on the enlarged objects to compute a simplex polytope that contains
// the origin. Then, we give that simplex polytope to the EPA algorithm to compute
// the correct penetration depth and contact points between the enlarged objects.
isEPAResultValid = computePenetrationDepthForEnlargedObjects(narrowPhaseInfo, contactPointInfo, v);
if(computePenetrationDepthForEnlargedObjects(narrowPhaseInfo, contactPointInfo, v)) {
// A contact has been found with EPA algorithm, we return true
return true;
}
}
if ((contactFound || !isEPAResultValid) && distSquare > MACHINE_EPSILON) {
if (contactFound && distSquare > MACHINE_EPSILON) {
// Compute the closet points of both objects (without the margins)
simplex.computeClosestPointsOfAandB(pA, pB);