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Fix issue with zero penetration depth in Sphere vs Capsule collision

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This commit is contained in:
Daniel Chappuis 2018-01-15 18:34:20 +01:00
parent 584b28a91c
commit b93e358f5b
1 changed files with 4 additions and 0 deletions
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4
src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp
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@ -121,6 +121,10 @@ bool SphereVsCapsuleAlgorithm::testCollision(NarrowPhaseInfo* narrowPhaseInfo, b
contactPointCapsuleLocal = sphereCenter - normalCapsuleSpace * capsuleShape->getRadius();
}
if (penetrationDepth <= decimal(0.0)) {
return false;
}
// Create the contact info object
narrowPhaseInfo->addContactPoint(normalWorld, penetrationDepth,
isSphereShape1 ? contactPointSphereLocal : contactPointCapsuleLocal,