From 25b7ce3f40d2f40e3ef4a66085498f9d40073cc7 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 23 Apr 2019 05:45:47 -0300
Subject: [PATCH] Output iterations on initial overlap and decrease tolerance

---
 src/bounce/collision/gjk/gjk.cpp | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/src/bounce/collision/gjk/gjk.cpp b/src/bounce/collision/gjk/gjk.cpp
index 4a397cc..ed3a024 100644
--- a/src/bounce/collision/gjk/gjk.cpp
+++ b/src/bounce/collision/gjk/gjk.cpp
@@ -866,21 +866,20 @@ bool b3GJKShapeCast(b3GJKShapeCastOutput* output,
 	B3_ASSERT(bound > 0.0f);
 
 	float32 t = 0.0f;
-	
-	const float32 tolerance = 0.5f * B3_LINEAR_SLOP;
-
 	b3SimplexCache cache;
 	cache.count = 0;
-
 	b3GJKOutput gjkOut = b3GJK(xf1, proxy1, xf2, proxy2, false, &cache);
 	float32 d = gjkOut.distance;
 
 	if (d == 0.0f)
 	{
 		// Overlap
+		output->iterations = 0;
 		return false;
 	}
 
+	const float32 tolerance = 0.25f * B3_LINEAR_SLOP;
+
 	b3Vec3 n = gjkOut.point2 - gjkOut.point1;
 	n /= d;
 
@@ -900,7 +899,6 @@ bool b3GJKShapeCast(b3GJKShapeCastOutput* output,
 		++iter;
 
 		B3_ASSERT(d >= radius);
-		
 		float32 dt = (d - radius) / bound;
 		t += dt;