Fix issue in SAT algorithm

DanielChappuis · Jan 28, 2019 · 528d7bf · 528d7bf
1 parent 6bcb586
commit 528d7bf
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/src/collision/narrowphase/SAT/SATAlgorithm.cpp b/src/collision/narrowphase/SAT/SATAlgorithm.cpp
@@ -40,8 +40,8 @@
 using namespace reactphysics3d;
 
 // Static variables initialization
-const decimal SATAlgorithm::SEPARATING_AXIS_RELATIVE_TOLERANCE = decimal(1.02);
-const decimal SATAlgorithm::SEPARATING_AXIS_ABSOLUTE_TOLERANCE = decimal(0.005);
+const decimal SATAlgorithm::SEPARATING_AXIS_RELATIVE_TOLERANCE = decimal(1.002);
+const decimal SATAlgorithm::SEPARATING_AXIS_ABSOLUTE_TOLERANCE = decimal(0.0005);
 
 // Constructor
 SATAlgorithm::SATAlgorithm(MemoryAllocator& memoryAllocator) : mMemoryAllocator(memoryAllocator) {
@@ -698,15 +698,15 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn
 
         // We use penetration axis of polygon 1
         isMinPenetrationFaceNormal = true;
-        minPenetrationDepth = penetrationDepth1;
+        minPenetrationDepth = std::min(penetrationDepth1, penetrationDepth2);
         minFaceIndex = faceIndex1;
         isMinPenetrationFaceNormalPolyhedron1 = true;
     }
     else {
 
         // We use penetration axis of polygon 2
         isMinPenetrationFaceNormal = true;
-        minPenetrationDepth = penetrationDepth2;
+        minPenetrationDepth = std::min(penetrationDepth1, penetrationDepth2);
         minFaceIndex = faceIndex2;
         isMinPenetrationFaceNormalPolyhedron1 = false;
     }