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Reverted tolerances for ConvexVSConvex

This commit is contained in:
Diren D Bharwani 2023-03-04 17:42:47 +08:00
parent 20fe6c4877
commit 5a2401bec2
1 changed files with 4 additions and 4 deletions
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8
SHADE_Engine/src/Physics/Collision/Narrowphase/SHConvexVsConvex.cpp
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@ -67,8 +67,8 @@ namespace SHADE
bool SHCollision::ConvexVsConvex(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept bool SHCollision::ConvexVsConvex(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
{ {
static constexpr float ABSOLUTE_TOLERANCE = 0.0005f; static constexpr float ABSOLUTE_TOLERANCE = 0.01f;
static constexpr float RELATIVE_TOLERANCE = 1.002f; static constexpr float RELATIVE_TOLERANCE = 0.95f;
const SHConvexPolyhedron& POLY_A = reinterpret_cast<const SHConvexPolyhedron&>(A); const SHConvexPolyhedron& POLY_A = reinterpret_cast<const SHConvexPolyhedron&>(A);
const SHConvexPolyhedron& POLY_B = reinterpret_cast<const SHConvexPolyhedron&>(B); const SHConvexPolyhedron& POLY_B = reinterpret_cast<const SHConvexPolyhedron&>(B);
@ -130,7 +130,7 @@ namespace SHADE
const SHConvexPolyhedron* incidentPoly = nullptr; const SHConvexPolyhedron* incidentPoly = nullptr;
SHCollisionUtils::FaceQuery minFaceQuery; SHCollisionUtils::FaceQuery minFaceQuery;
if (FACE_QUERY_A.bestDistance > FACE_QUERY_B.bestDistance * RELATIVE_TOLERANCE + ABSOLUTE_TOLERANCE) if (FACE_QUERY_A.bestDistance + ABSOLUTE_TOLERANCE > FACE_QUERY_B.bestDistance * RELATIVE_TOLERANCE)
{ {
minFaceQuery = FACE_QUERY_A; minFaceQuery = FACE_QUERY_A;
referencePoly = &POLY_A; referencePoly = &POLY_A;
@ -157,7 +157,7 @@ namespace SHADE
// If an edge pair contains the closest distance,vwe ignore any face queries and find the closest points on // If an edge pair contains the closest distance,vwe ignore any face queries and find the closest points on
// each edge and use that as the contact point. // each edge and use that as the contact point.
if (EDGE_QUERY.bestDistance * RELATIVE_TOLERANCE + ABSOLUTE_TOLERANCE > minFaceQuery.bestDistance + ABSOLUTE_TOLERANCE) if (EDGE_QUERY.bestDistance * RELATIVE_TOLERANCE > minFaceQuery.bestDistance + ABSOLUTE_TOLERANCE)
{ {
const SHHalfEdgeStructure::HalfEdge& HALF_EDGE_A = POLY_A.GetHalfEdge(EDGE_QUERY.halfEdgeA); const SHHalfEdgeStructure::HalfEdge& HALF_EDGE_A = POLY_A.GetHalfEdge(EDGE_QUERY.halfEdgeA);
const SHHalfEdgeStructure::HalfEdge& HALF_EDGE_B = POLY_B.GetHalfEdge(EDGE_QUERY.halfEdgeB); const SHHalfEdgeStructure::HalfEdge& HALF_EDGE_B = POLY_B.GetHalfEdge(EDGE_QUERY.halfEdgeB);