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Broad-phase: discard NAN/Inf AABBs.

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This commit is contained in:
Sébastien Crozet
2022-06-24 11:56:28 +02:00
parent 9e431fb392
commit be5b6813a9
1 changed files with 9 additions and 1 deletions
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10
src/geometry/broad_phase_multi_sap/broad_phase.rs
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@@ -8,7 +8,7 @@ use crate::geometry::{
}; };
use crate::math::Real; use crate::math::Real;
use crate::utils::IndexMut2; use crate::utils::IndexMut2;
use parry::bounding_volume::BoundingVolume; use parry::bounding_volume::{BoundingVolume, AABB};
use parry::utils::hashmap::HashMap; use parry::utils::hashmap::HashMap;
/// A broad-phase combining a Hierarchical Grid and Sweep-and-Prune. /// A broad-phase combining a Hierarchical Grid and Sweep-and-Prune.
@@ -352,8 +352,16 @@ impl BroadPhase {
.compute_aabb(co_pos) .compute_aabb(co_pos)
.loosened(prediction_distance / 2.0); .loosened(prediction_distance / 2.0);
if aabb.mins.coords.iter().any(|e| !e.is_finite())
|| aabb.maxs.coords.iter().any(|e| !e.is_finite())
{
// Reject AABBs with non-finite values.
return false;
}
aabb.mins = super::clamp_point(aabb.mins); aabb.mins = super::clamp_point(aabb.mins);
aabb.maxs = super::clamp_point(aabb.maxs); aabb.maxs = super::clamp_point(aabb.maxs);
let prev_aabb; let prev_aabb;
let layer_id = if let Some(proxy) = self.proxies.get_mut(*proxy_index) { let layer_id = if let Some(proxy) = self.proxies.get_mut(*proxy_index) {