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more assert issues fixed in Epa

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This commit is contained in:
ejcoumans
2006-09-07 23:28:30 +00:00
parent 543ad0ed4c
commit 10aed12f42
2 changed files with 14 additions and 5 deletions
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11
Extras/EPA/Epa.cpp
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@@ -83,20 +83,29 @@ bool Epa::Initialize( SimplexSolverInterface& simplexSolver )
delta = v.dot( w );
EPA_DEBUG_ASSERT( ( delta <= 0 ) ,"Shapes are disjoint, EPA should have never been called!" );
if ( delta > 0.f )
return false;
EPA_DEBUG_ASSERT( !simplexSolver.inSimplex( w ) ,"Shapes are disjoint, EPA should have never been called!" );
if (simplexSolver.inSimplex( w ))
return false;
// Add support point to simplex
simplexSolver.addVertex( w, pWorld, qWorld );
bool closestOk = simplexSolver.closest( v );
EPA_DEBUG_ASSERT( closestOk ,"Shapes are disjoint, EPA should have never been called!" );
if (!closestOk)
return false;
SimdScalar prevVSqrd = squaredDistance;
squaredDistance = v.length2();
// Is v converging to v(A-B) ?
EPA_DEBUG_ASSERT( ( ( prevVSqrd - squaredDistance ) > SIMD_EPSILON * prevVSqrd ) ,
"Shapes are disjoint, EPA should have never been called!" );
if (( ( prevVSqrd - squaredDistance ) <= SIMD_EPSILON * prevVSqrd ))
return false;
if ( simplexSolver.fullSimplex() || ( squaredDistance <= SIMD_EPSILON * simplexSolver.maxVertex() ) )
{