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Output iterations on initial overlap and decrease tolerance

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This commit is contained in:
Irlan
2019-04-23 05:45:47 -03:00
parent d02a1f512e
commit 25b7ce3f40
1 changed files with 3 additions and 5 deletions
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8
src/bounce/collision/gjk/gjk.cpp
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@@ -866,21 +866,20 @@ bool b3GJKShapeCast(b3GJKShapeCastOutput* output,
B3_ASSERT(bound > 0.0f); B3_ASSERT(bound > 0.0f);
float32 t = 0.0f; float32 t = 0.0f;
const float32 tolerance = 0.5f * B3_LINEAR_SLOP;
b3SimplexCache cache; b3SimplexCache cache;
cache.count = 0; cache.count = 0;
b3GJKOutput gjkOut = b3GJK(xf1, proxy1, xf2, proxy2, false, &cache); b3GJKOutput gjkOut = b3GJK(xf1, proxy1, xf2, proxy2, false, &cache);
float32 d = gjkOut.distance; float32 d = gjkOut.distance;
if (d == 0.0f) if (d == 0.0f)
{ {
// Overlap // Overlap
output->iterations = 0;
return false; return false;
} }
const float32 tolerance = 0.25f * B3_LINEAR_SLOP;
b3Vec3 n = gjkOut.point2 - gjkOut.point1; b3Vec3 n = gjkOut.point2 - gjkOut.point1;
n /= d; n /= d;
@@ -900,7 +899,6 @@ bool b3GJKShapeCast(b3GJKShapeCastOutput* output,
++iter; ++iter;
B3_ASSERT(d >= radius); B3_ASSERT(d >= radius);
float32 dt = (d - radius) / bound; float32 dt = (d - radius) / bound;
t += dt; t += dt;