Commit 12e5357c authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

[Bug] Fix computation of penetration depth for triangle / triangle query.

parent c83a604f
......@@ -672,6 +672,9 @@ bool GJKSolver_indep::shapeDistance<Capsule, Capsule>
(P1, P2, P3, Q1, Q2, Q3, tf1, tf2, normal);
dist = -penetrationDepth;
assert (dist <= 1e-6);
// GJK says Inside when below GJK.tolerance. So non intersecting
// triangle may trigger "Inside" and have no penetration.
return penetrationDepth < 0;
dist = 0;
return false;
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