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Capsule vs Capsule Collision Make sure the penetration depth is not zero #382

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Capsule vs Capsule Collision Make sure the penetration depth is not zero #382

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a01ff44
Make sure the penetration depth is not zero
robertocapuano Apr 12, 2024
72137f1
Revert "Make sure the penetration depth is not zero"
robertocapuano Jun 4, 2024
9a216bf
Update CapsuleVsCapsuleAlgorithm.cpp
robertocapuano Jun 4, 2024
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8 changes: 4 additions & 4 deletions src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,7 @@
#include <reactphysics3d/collision/narrowphase/NarrowPhaseInfoBatch.h>

// We want to use the ReactPhysics3D namespace
using namespace reactphysics3d;
using namespace reactphysics3d;

// Compute the narrow-phase collision detection between two capsules
// This technique is based on the "Robust Contact Creation for Physics Simulations" presentation
Expand Down Expand Up @@ -133,8 +133,8 @@ bool CapsuleVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseI
Vector3 seg2Normalized = seg2.getUnit();

// Get the vectors (among vec1 and vec2) that is the most orthogonal to the capsule 2 inner segment (smallest absolute dot product)
decimal cosA1 = std::abs(seg2Normalized.x); // abs(vec1.dot(seg2))
decimal cosA2 = std::abs(seg2Normalized.y); // abs(vec2.dot(seg2))
decimal cosA1 = std::abs(seg2Normalized.x); // abs(vec1.dot(seg2))
decimal cosA2 = std::abs(seg2Normalized.y); // abs(vec2.dot(seg2))

segment1ToSegment2.setToZero();

Expand Down Expand Up @@ -189,7 +189,7 @@ bool CapsuleVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseI

const Vector3 normalWorld = narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape2ToWorldTransform.getOrientation() * closestPointsSeg1ToSeg2;

decimal penetrationDepth = sumRadius - closestPointsDistance;
decimal penetrationDepth = std::max(sumRadius - closestPointsDistance, MACHINE_EPSILON);

// Create the contact info object
narrowPhaseInfoBatch.addContactPoint(batchIndex, normalWorld, penetrationDepth, contactPointCapsule1Local, contactPointCapsule2Local);
Expand Down