Commit a5d20791 authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

Set initial guess for triangle-triangle distance computation.

parent 7735a592
......@@ -629,8 +629,9 @@ bool GJKSolver_indep::shapeDistance<Capsule, Capsule>
t1 (tf1.transform(s1.a), tf1.transform(s1.b), tf1.transform(s1.c)),
t2 (tf2.transform(s2.a), tf2.transform(s2.b), tf2.transform(s2.c));
Vec3f guess(1, 0, 0);
Vec3f guess;
if(enable_cached_guess) guess = cached_guess;
else guess = (t1.a + t1.b + t1.c - t2.a - t2.b - t2.c) / 3;
bool enable_penetration (true);
details::MinkowskiDiff shape;
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