Possible EPA Algorithm Issues #2

[kovertopz]

There is one more issue with the EPA I've discovered and that is when case 4 falls through to case 3. When it attempts to fix the bad vertex (line 249) it will set it to a point that never exists (point #5). It never exists because we jumped to case 4 because we knew we got 4 points from the simplex. I'm not sure how C++ handles this if you would get a null pointer of if the array was initialized to contain all dummy objects. This case of it falling through from 4 into 3 only seems to happen for cylinders for me and is very rare so it is difficult to reproduce.

Got 3 from the simplex.
Case 3 is starting.
Case 3 is falling through breaking out of the switch.
Normal: (x= -6.16584E-5, y= -1.0, z= -8.335716E-6) Depth: 0.63282037
Got 4 from the simplex.
Case 4 is starting.
Case 4 had bad vertex 0.
Got 4 from the simplex.
Case 4 is starting.
Case 4 had bad vertex 0.
Got 4 from the simplex.
Case 4 is starting.
Case 4 had bad vertex 0.
Got 4 from the simplex.
Case 4 is starting.
Case 4 had bad vertex 0.
Got 4 from the simplex.
Case 4 is starting.
Case 4 had bad vertex 0.
Got 4 from the simplex.
Case 4 is starting.
Case 4 had bad vertex 0.
Got 4 from the simplex.
Case 4 is starting.
Case 4 had bad vertex 0.
Got 4 from the simplex.
Case 4 is starting.
Case 4 had bad vertex 0.
Got 4 from the simplex.
Case 4 is starting.
Case 4 had bad vertex 0.
Got 4 from the simplex.
Case 4 is starting.
Case 4 had bad vertex less 4: 1
Case 4 is falling through to case 3.
Case 3 is starting.
Oct 06, 2014 11:40:19 PM net.smert.jreactphysics3d.framework.Application$1 run
java.lang.NullPointerException
at net.smert.jreactphysics3d.mathematics.Vector3.subtract(Vector3.java:238)
at net.smert.jreactphysics3d.collision.narrowphase.EPA.EPAAlgorithm.computePenetrationDepthAndContactPoints(EPAAlgorithm.java:323)
at net.smert.jreactphysics3d.collision.narrowphase.GJK.GJKAlgorithm.computePenetrationDepthForEnlargedObjects(GJKAlgorithm.java:197)
at net.smert.jreactphysics3d.collision.narrowphase.GJK.GJKAlgorithm.testCollision(GJKAlgorithm.java:309)

[DanielChappuis]

I think I have fixed this issue in the following commit : 54d8b85

This correction will be part of the next release of the library.

[DanielChappuis]

This fix is now part of the last release of the library (version 0.5.0).

I will therefore close this issue.