From 12e56eb496b48dce7369464cc6ea31eae8951114 Mon Sep 17 00:00:00 2001
From: Pro-Ly <849297348@qq.com>
Date: Sun, 26 May 2024 21:02:24 +0800
Subject: [PATCH] Fix ConvexHullPairTester get wrong contacts with parallel
edges cases
---
.../CollisionTasks/ConvexHullPairTester.cs | 66 ++++++++-----------
1 file changed, 29 insertions(+), 37 deletions(-)
diff --git a/BepuPhysics/CollisionDetection/CollisionTasks/ConvexHullPairTester.cs b/BepuPhysics/CollisionDetection/CollisionTasks/ConvexHullPairTester.cs
index d07a8a1a..53b86946 100644
--- a/BepuPhysics/CollisionDetection/CollisionTasks/ConvexHullPairTester.cs
+++ b/BepuPhysics/CollisionDetection/CollisionTasks/ConvexHullPairTester.cs
@@ -153,46 +153,38 @@ public static unsafe void Test(ref ConvexHullWide a, ref ConvexHullWide b, ref V
if (numerator < earliestExit * denominator)
earliestExit = numerator / denominator;
}
- else if (numerator < 0)
- {
- //The B edge is parallel and outside the edge A, so there can be no intersection.
- earliestExit = float.MinValue;
- latestEntry = float.MaxValue;
- }
+ //Parallel edges are ignored. If the edge is parallel, it will not contribute to the contact manifold.
}
- //We now have bounds on B's edge.
- //Denominator signs are opposed; comparison flipped.
- if (latestEntry <= earliestExit)
+
+ //This edge of B was actually contained in A's face. Add contacts for it.
+ latestEntry = latestEntry < 0 ? 0 : latestEntry;
+ earliestExit = earliestExit > 1 ? 1 : earliestExit;
+ //Create max contact if max >= min.
+ //Create min if min < max and min > 0.
+ var startId = (previousIndexB.BundleIndex << BundleIndexing.VectorShift) + previousIndexB.InnerIndex;
+ var endId = (indexB.BundleIndex << BundleIndexing.VectorShift) + indexB.InnerIndex;
+ var baseFeatureId = (startId ^ endId) << 8;
+ if (earliestExit >= latestEntry && candidateCount < maximumCandidateCount)
{
- //This edge of B was actually contained in A's face. Add contacts for it.
- latestEntry = latestEntry < 0 ? 0 : latestEntry;
- earliestExit = earliestExit > 1 ? 1 : earliestExit;
- //Create max contact if max >= min.
- //Create min if min < max and min > 0.
- var startId = (previousIndexB.BundleIndex << BundleIndexing.VectorShift) + previousIndexB.InnerIndex;
- var endId = (indexB.BundleIndex << BundleIndexing.VectorShift) + indexB.InnerIndex;
- var baseFeatureId = (startId ^ endId) << 8;
- if (earliestExit >= latestEntry && candidateCount < maximumCandidateCount)
- {
- //Create max contact.
- var point = edgeOffsetB * earliestExit + previousVertexB - bFaceOrigin;
- var newContactIndex = candidateCount++;
- ref var candidate = ref candidates[newContactIndex];
- candidate.X = Vector3.Dot(point, bFaceX);
- candidate.Y = Vector3.Dot(point, bFaceY);
- candidate.FeatureId = baseFeatureId + endId;
- }
- if (latestEntry < earliestExit && latestEntry > 0 && candidateCount < maximumCandidateCount)
- {
- //Create min contact.
- var point = edgeOffsetB * latestEntry + previousVertexB - bFaceOrigin;
- var newContactIndex = candidateCount++;
- ref var candidate = ref candidates[newContactIndex];
- candidate.X = Vector3.Dot(point, bFaceX);
- candidate.Y = Vector3.Dot(point, bFaceY);
- candidate.FeatureId = baseFeatureId + startId;
- }
+ //Create max contact.
+ var point = edgeOffsetB * earliestExit + previousVertexB - bFaceOrigin;
+ var newContactIndex = candidateCount++;
+ ref var candidate = ref candidates[newContactIndex];
+ candidate.X = Vector3.Dot(point, bFaceX);
+ candidate.Y = Vector3.Dot(point, bFaceY);
+ candidate.FeatureId = baseFeatureId + endId;
}
+ if (latestEntry < earliestExit && latestEntry > 0 && candidateCount < maximumCandidateCount)
+ {
+ //Create min contact.
+ var point = edgeOffsetB * latestEntry + previousVertexB - bFaceOrigin;
+ var newContactIndex = candidateCount++;
+ ref var candidate = ref candidates[newContactIndex];
+ candidate.X = Vector3.Dot(point, bFaceX);
+ candidate.Y = Vector3.Dot(point, bFaceY);
+ candidate.FeatureId = baseFeatureId + startId;
+ }
+
previousIndexB = indexB;
previousVertexB = vertexB;
}