Commit 3cd28eca authored by Tobias Leemann's avatar Tobias Leemann

Removed Debug function, updated name of GJK call to match EPA, added Implementation in cpp-File

parent 96134ee8
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......@@ -64,7 +64,7 @@ private:
bool performIterativeDetection(GeomPrimitive &a, GeomPrimitive &b, Vec3& normal, Vec3& contactPoint, real_t& penetrationDepth){
real_t margin = real_t(1e-4);
GJK gjk;
if(gjk.doGJKcontactThreshold(a, b, margin)){
if(gjk.doGJKmargin(a, b, margin)){
//2. If collision is possible perform EPA.
EPA epa;
return epa.doEPAmargin(a, b, gjk, normal, contactPoint, penetrationDepth, margin);
......
......@@ -58,7 +58,7 @@ bool gjkEPAcollideHybrid(GeomPrimitive &geom1, GeomPrimitive &geom2, Vec3& norma
//1. Run GJK with considerably enlarged objects.
real_t margin = real_t(1e-4);
GJK gjk;
if(gjk.doGJKcontactThreshold(geom1, geom2, margin)){
if(gjk.doGJKmargin(geom1, geom2, margin)){
//2. If collision is possible perform EPA.
//std::cerr << "Peforming EPA.";
EPA epa;
......
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