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tested Epa, and added some debug printf stuff

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Still has some issues, but so does the sampling MinkowskisumPenetrationDepth solver (its an approximation)
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ejcoumans
2006-09-07 22:55:17 +00:00
parent 1bbd779aa3
commit 6a0296d437
4 changed files with 62 additions and 43 deletions
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5
Extras/EPA/EpaCommon.h
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@@ -19,6 +19,11 @@ subject to the following restrictions:
#define EPA_POLYHEDRON_USE_PLANES
//#define EPA_DEBUG_ASSERT(c,a)
//#define EPA_DEBUG_ASSERT(c,a) assert(c && a)
#define EPA_DEBUG_ASSERT(c,a) if (!c) printf(a)
//#define EPA_USE_HYBRID
#endif