Fix ConvexHullPairTester get wrong contacts with parallel edges cases #329
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
|
Thanks; I'm traveling, so it will take a while for me to check this out in depth. This part of the pair tester involves some extremely subtle details if I remember correctly. I'm going to have to stare at it for a while. If you have a reliable reproduction case for the bug (e.g. a convexhull and a set of poses which shows the failure), that'd help me a lot. |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
There is a bug in convexhull tester: when one edge from shape B's face perform clipping with shape A'face find two edges parallel, it will override the right result to invalid.
In fact. I believe that there is no need to do anything with parallel edge cases. They will be filtered in the later "if (earliestExit >= latestEntry)" judgements.