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Tweaks to deal with some coner case

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RonaldoCMP 2021-06-25 16:32:28 +01:00
parent 83f7ec499e
commit fee433f654
1 changed files with 4 additions and 5 deletions
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geometry.scad
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@ -2423,9 +2423,7 @@ function _GJK_distance(points1, points2, eps=EPSILON, lbd, d, simplex=[]) =
lbd = max(lbd, d*v/nrd), // distance lower bound lbd = max(lbd, d*v/nrd), // distance lower bound
close = (nrd-lbd <= eps*nrd) close = (nrd-lbd <= eps*nrd)
) )
// v already in the simplex is a degenerence due to numerical errors close ? d :
// and may produce a non-stopping loop
close || [for(nv=norm(v), s=simplex) if(norm(s-v)<=eps*nv) 1]!=[] ? d :
let( newsplx = _closest_simplex(concat(simplex,[v]),eps) ) let( newsplx = _closest_simplex(concat(simplex,[v]),eps) )
_GJK_distance(points1, points2, eps, lbd, newsplx[0], newsplx[1]); _GJK_distance(points1, points2, eps, lbd, newsplx[0], newsplx[1]);
@ -2480,9 +2478,10 @@ function convex_collision(points1, points2, eps=EPSILON) =
// http://www.dtecta.com/papers/jgt98convex.pdf // http://www.dtecta.com/papers/jgt98convex.pdf
function _GJK_collide(points1, points2, d, simplex, eps=EPSILON) = function _GJK_collide(points1, points2, d, simplex, eps=EPSILON) =
norm(d) < eps ? true : // does collide norm(d) < eps ? true : // does collide
let( v = _support_diff(points1,points2,-d) ) let( v = _support_diff(points1,points2,-d) )
v*d > eps ? false : // no collision v*d > eps*eps ? false : // no collision
let( newsplx = _closest_simplex(concat(simplex,[v]),eps) ) let( newsplx = _closest_simplex(concat(simplex,[v]),eps) )
norm(v-newsplx[0])<eps ? norm(v)<eps :
_GJK_collide(points1, points2, newsplx[0], newsplx[1], eps); _GJK_collide(points1, points2, newsplx[0], newsplx[1], eps);