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Merge pull request #60 from dimforge/ball_ball_collision_bug

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Fix NaN when two balls are in contact and their centers coincide.
This commit is contained in:
Sébastien Crozet
2020-11-19 11:02:35 +01:00
committed by GitHub
parent 7af7db6183 17614116da
commit 7e560d43f2
1 changed files with 7 additions and 2 deletions
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9
src/geometry/contact_generator/ball_ball_contact_generator.rs
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@@ -1,6 +1,6 @@
use crate::geometry::contact_generator::PrimitiveContactGenerationContext; use crate::geometry::contact_generator::PrimitiveContactGenerationContext;
use crate::geometry::{Contact, KinematicsCategory}; use crate::geometry::{Contact, KinematicsCategory};
use crate::math::Point; use crate::math::{Point, Vector};
#[cfg(feature = "simd-is-enabled")] #[cfg(feature = "simd-is-enabled")]
use { use {
crate::geometry::contact_generator::PrimitiveContactGenerationContextSimd, crate::geometry::contact_generator::PrimitiveContactGenerationContextSimd,
@@ -72,7 +72,12 @@ pub fn generate_contacts_ball_ball(ctxt: &mut PrimitiveContactGenerationContext)
let dist = center_dist - radius_a - radius_b; let dist = center_dist - radius_a - radius_b;
if dist < ctxt.prediction_distance { if dist < ctxt.prediction_distance {
let local_n1 = dcenter / center_dist; let local_n1 = if center_dist != 0.0 {
dcenter / center_dist
} else {
Vector::y()
};
let local_n2 = pos_ba.inverse_transform_vector(&-local_n1); let local_n2 = pos_ba.inverse_transform_vector(&-local_n1);
let local_p1 = local_n1 * radius_a; let local_p1 = local_n1 * radius_a;
let local_p2 = local_n2 * radius_b; let local_p2 = local_n2 * radius_b;