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Fix computing contact point in edge-edge case in cg::separation

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Nikita Lisitsa 2024-03-17 11:32:59 +03:00
parent 663f7bc5f4
commit bede9c95f9
1 changed files with 1 additions and 1 deletions
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libs/cg/include/psemek/cg/convex/separation.hpp
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@ -226,7 +226,7 @@ namespace psemek::cg
auto m = geom::cross(result.direction, vs2[e2[1]] - vs2[e2[0]]);
auto v = geom::dot(geom::homogeneous(vs2[e2[0]]), geom::homogeneous(m));
auto t = (v - geom::dot(geom::homogeneous(vs1[e1[0]]), geom::homogeneous(m))) / geom::dot(geom::homogeneous(vs1[e1[1]] - vs1[e1[0]]), geom::homogeneous(m));
result.contact_point = geom::lerp(vs1[e1[0]], vs1[e2[1]], geom::clamp(t, geom::interval(scalar_type(0), scalar_type(1))));
result.contact_point = geom::lerp(vs1[e1[0]], vs1[e1[1]], geom::clamp(t, geom::interval(scalar_type(0), scalar_type(1))));
}
return result;