diff options
Diffstat (limited to 'src/geometry/contact.rs')
| -rw-r--r-- | src/geometry/contact.rs | 21 |
1 files changed, 15 insertions, 6 deletions
diff --git a/src/geometry/contact.rs b/src/geometry/contact.rs index 7e235c2..d211cf1 100644 --- a/src/geometry/contact.rs +++ b/src/geometry/contact.rs @@ -430,16 +430,26 @@ impl ContactManifold { #[inline] pub(crate) fn try_update_contacts(&mut self, pos12: &Isometry<f32>) -> bool { + // const DOT_THRESHOLD: f32 = 0.crate::COS_10_DEGREES; + const DOT_THRESHOLD: f32 = crate::utils::COS_5_DEGREES; + const DIST_SQ_THRESHOLD: f32 = 0.001; // FIXME: this should not be hard-coded. + self.try_update_contacts_eps(pos12, DOT_THRESHOLD, DIST_SQ_THRESHOLD) + } + + #[inline] + pub(crate) fn try_update_contacts_eps( + &mut self, + pos12: &Isometry<f32>, + angle_dot_threshold: f32, + dist_sq_threshold: f32, + ) -> bool { if self.points.len() == 0 { return false; } - // const DOT_THRESHOLD: f32 = 0.crate::COS_10_DEGREES; - const DOT_THRESHOLD: f32 = crate::utils::COS_5_DEGREES; - let local_n2 = pos12 * self.local_n2; - if -self.local_n1.dot(&local_n2) < DOT_THRESHOLD { + if -self.local_n1.dot(&local_n2) < angle_dot_threshold { return false; } @@ -455,8 +465,7 @@ impl ContactManifold { } let new_local_p1 = local_p2 - self.local_n1 * dist; - let dist_threshold = 0.001; // FIXME: this should not be hard-coded. - if na::distance_squared(&pt.local_p1, &new_local_p1) > dist_threshold { + if na::distance_squared(&pt.local_p1, &new_local_p1) > dist_sq_threshold { return false; } |