Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Make EPA more stable by skipping origin enclosed test once the origin… #114

Merged
merged 1 commit into from
Apr 1, 2024
Merged

Make EPA more stable by skipping origin enclosed test once the origin… #114

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 5 additions & 1 deletion src/Jitter2/Collision/NarrowPhase/ConvexPolytope.cs
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -293,6 +293,10 @@ public ref Triangle GetClosestTriangle()
int closestIndex = -1;
float currentMin = float.MaxValue;

// We can skip the test for enclosed origin if the origin was
// already enclosed once.
bool skipTest = originEnclosed;

originEnclosed = true;

for (int i = 0; i < tPointer; i++)
Expand All @@ -303,7 +307,7 @@ public ref Triangle GetClosestTriangle()
closestIndex = i;
}

if (!triangles[i].FacingOrigin) originEnclosed = false;
if (!triangles[i].FacingOrigin) originEnclosed = skipTest;
}

return ref triangles[closestIndex];
Expand Down
Loading