From 12e5357c78cb775d243f106237f94f36a8c7190f Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 28 Aug 2019 12:01:55 +0200
Subject: [PATCH] [Bug] Fix computation of penetration depth for triangle /
triangle query.
---
src/narrowphase/narrowphase.cpp | 3 +++
1 file changed, 3 insertions(+)
diff --git a/src/narrowphase/narrowphase.cpp b/src/narrowphase/narrowphase.cpp
index 00897891..ab80770f 100644
--- a/src/narrowphase/narrowphase.cpp
+++ b/src/narrowphase/narrowphase.cpp
@@ -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;
--
GitLab