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Irlan
2017-04-01 08:53:39 -03:00
parent 4d3dc172d3
commit d078b9f241
1 changed files with 6 additions and 4 deletions
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10
src/bounce/dynamics/contacts/collide/collide_capsules.cpp
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@ -93,15 +93,17 @@ static void b3ClosestPoints(b3Vec3& C1, b3Vec3& C2,
// Here and in 3D we need to start "GJK" with the closest points between the two edges // Here and in 3D we need to start "GJK" with the closest points between the two edges
// since the cross product between their direction is a possible separating axis. // since the cross product between their direction is a possible separating axis.
b3Vec3 N1 = E1; B3_ASSERT(L1 > 0.0f);
float32 LN1 = N1.Normalize(); B3_ASSERT(L2 > 0.0f);
b3Vec3 N2 = E2; b3Vec3 N1 = E1 / L1;
float32 LN2 = N2.Normalize(); b3Vec3 N2 = E2 / L2;
float32 b = b3Dot(N1, N2); float32 b = b3Dot(N1, N2);
float32 den = 1.0f - b * b; float32 den = 1.0f - b * b;
const float32 kTol = 0.005f; const float32 kTol = 0.005f;
if (den < kTol * kTol) if (den < kTol * kTol)
{ {
C1 = P1; C1 = P1;