Skip to content

Shape on composite shape contact fix #388

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
sebcrozet merged 12 commits into from
Oct 29, 2025
Merged

Shape on composite shape contact fix #388

Show file tree
Hide file tree
Changes from 3 commits
Commits
Show all changes
12 commits
Select commit Hold shift + click to select a range
63e9242
Create constructor for ConvexPolyline that does not remove any vertices
Ughuuu Oct 6, 2024
fcdf704
Merge remote-tracking branch 'upstream/master' into custom-changes
Ughuuu Oct 1, 2025
576ec5a
Fixes a vector inversion that was causing contact operations between …
dog-molecule Oct 19, 2025
6428920
reverting epsilon change
dog-molecule Oct 25, 2025
d03fa29
Create constructor for ConvexPolyline that does not remove any vertices
Ughuuu Oct 6, 2024
b0ea81d
Fixes a vector inversion that was causing contact operations between …
dog-molecule Oct 19, 2025
90a9022
reverting epsilon change
dog-molecule Oct 25, 2025
cd939d5
Merge branch 'shape_on_composite_shape_contact_fix' of https://github…
dog-molecule Oct 25, 2025
979fc70
git please
dog-molecule Oct 25, 2025
f26345b
should match dimforge master now
dog-molecule Oct 25, 2025
9fa0f01
actually implementing the fix.
dog-molecule Oct 25, 2025
a0bbbdb
Update contact_composite_shape_shape.rs
dog-molecule Oct 29, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion src/query/contact/contact_composite_shape_shape.rs
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,7 @@ where
G1: ?Sized + CompositeShape,
{
CompositeShapeRef(g1)
.contact_with_shape(dispatcher, &pose12.inverse(), g2, prediction)
.contact_with_shape(dispatcher, &pose12, g2, prediction)
.map(|c| c.1)
}

Expand Down
2 changes: 1 addition & 1 deletion src/query/gjk/gjk.rs
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,7 @@ pub enum GJKResult {
/// The absolute tolerance used by the GJK algorithm.
pub fn eps_tol() -> Real {
let _eps = crate::math::DEFAULT_EPSILON;
_eps * 10.0
Copy link
Contributor

@Ughuuu Ughuuu Oct 23, 2025

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Revert this

_eps * 100.0
}

/// Projects the origin on the boundary of the given shape.
Expand Down