GJK fix for https://github.com/bulletphysics/bullet3/issues/1703

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In a nutshell, we added a more reliable check, based on if the origin is in the GJK simplex, to determine if we are really intersecting and need to run EPA.
See also "Real-time Collision Detection with Implicit Objects" by Leif Olvang
Todo: integrate the simplex penetration check directly inside the Bullet btVoronoiSimplexSolver
and remove this temporary code from libCCD
Note, for large differences in shapes, use double precision build!

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erwincoumans

2018-08-30 18:35:51 -07:00

parent 4f7dfc2069

commit ee9fca8c29

2 changed files with 965 additions and 221 deletions

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src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp

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