From af1f65c2b27b8f50840363a6b627095698f05935 Mon Sep 17 00:00:00 2001
From: Tobias Leemann <tobias.leemann@fau.de>
Date: Sun, 10 Dec 2017 20:41:02 +0100
Subject: [PATCH] Fixed possible endless loop and normalization
---
src/pe/collision/EPA.cpp | 5 ++++-
1 file changed, 4 insertions(+), 1 deletion(-)
diff --git a/src/pe/collision/EPA.cpp b/src/pe/collision/EPA.cpp
index ed40e4153..2e0d0e889 100644
--- a/src/pe/collision/EPA.cpp
+++ b/src/pe/collision/EPA.cpp
@@ -277,7 +277,6 @@ bool EPA::doEPA( GeomPrimitive &geom1, GeomPrimitive &geom2, const GJK& gjk, Vec
current = entryHeap.back();
entryHeap.pop_back();
if(!current->isObsolete()) {
- WALBERLA_ASSERT_GREATER(current->getSqrDist(), real_t(0.0), "EPA_Trianalge distance is negative.");
lowerBoundSqr = current->getSqrDist();
if(epaVolume.size() == maxSupportPoints_) {
@@ -289,6 +288,10 @@ bool EPA::doEPA( GeomPrimitive &geom1, GeomPrimitive &geom2, const GJK& gjk, Vec
// if origin is contained in plane, use out-facing normal.
Vec3 normal;
if(current->getSqrDist() < real_comparison::Epsilon<real_t>::value*real_comparison::Epsilon<real_t>::value){
+ if(current->getNormal().sqrLength() < real_comparison::Epsilon<real_t>::value*real_comparison::Epsilon<real_t>::value){
+ break;
+ }
+
normal = current->getNormal().getNormalized();
}else{
normal = current->getClosest().getNormalized();
--
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