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| author | Sébastien Crozet <developer@crozet.re> | 2022-06-24 11:56:28 +0200 |
|---|---|---|
| committer | Sébastien Crozet <developer@crozet.re> | 2022-06-24 11:56:28 +0200 |
| commit | be5b6813a9675089f6ea0ee02a1e6eefed831e49 (patch) | |
| tree | 28ebbb50d4079af4b2289224923cfa4d393d25ba /src/geometry | |
| parent | 9e431fb392fe85228b695fd5e58c61da7bef1dd2 (diff) | |
| download | rapier-be5b6813a9675089f6ea0ee02a1e6eefed831e49.tar.gz rapier-be5b6813a9675089f6ea0ee02a1e6eefed831e49.tar.bz2 rapier-be5b6813a9675089f6ea0ee02a1e6eefed831e49.zip | |
Broad-phase: discard NAN/Inf AABBs.
Diffstat (limited to 'src/geometry')
| -rw-r--r-- | src/geometry/broad_phase_multi_sap/broad_phase.rs | 10 |
1 files changed, 9 insertions, 1 deletions
diff --git a/src/geometry/broad_phase_multi_sap/broad_phase.rs b/src/geometry/broad_phase_multi_sap/broad_phase.rs index 2c8c5e3..60a28bd 100644 --- a/src/geometry/broad_phase_multi_sap/broad_phase.rs +++ b/src/geometry/broad_phase_multi_sap/broad_phase.rs @@ -8,7 +8,7 @@ use crate::geometry::{ }; use crate::math::Real; use crate::utils::IndexMut2; -use parry::bounding_volume::BoundingVolume; +use parry::bounding_volume::{BoundingVolume, AABB}; use parry::utils::hashmap::HashMap; /// A broad-phase combining a Hierarchical Grid and Sweep-and-Prune. @@ -352,8 +352,16 @@ impl BroadPhase { .compute_aabb(co_pos) .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.maxs = super::clamp_point(aabb.maxs); + let prev_aabb; let layer_id = if let Some(proxy) = self.proxies.get_mut(*proxy_index) { |