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fix

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Orange
2025-12-06 13:56:13 +03:00
parent e05eba42c3
commit c158f08430
1 changed files with 7 additions and 7 deletions
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14
include/omath/collision/epa_algorithm.hpp
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@@ -32,7 +32,7 @@ namespace omath::collision
struct Result final
{
VectorType normal{}; // outward normal (from B to A)
VectorType normal{}; // from A to B
VectorType penetration_vector;
float depth{0.0f};
int iterations{0};
@@ -86,17 +86,17 @@ namespace omath::collision
break;
const int fidx = heap.top().idx;
const Face f = faces[fidx];
const Face face = faces[fidx];
// Get the furthest point in face normal direction
const VectorType p = support_point(a, b, f.n);
const float p_dist = f.n.dot(p);
const VectorType p = support_point(a, b, face.n);
const float p_dist = face.n.dot(p);
// Converged if we can’t push the face closer than tolerance
if (p_dist - f.d <= params.tolerance)
if (p_dist - face.d <= params.tolerance)
{
out.normal = f.n;
out.depth = f.d; // along unit normal
out.normal = face.n;
out.depth = face.d; // along unit normal
out.iterations = it + 1;
out.num_vertices = static_cast<int>(vertexes.size());
out.num_faces = static_cast<int>(faces.size());