diff options
Diffstat (limited to 'src/geometry')
| -rw-r--r-- | src/geometry/broad_phase_multi_sap/broad_phase.rs | 8 | ||||
| -rw-r--r-- | src/geometry/broad_phase_multi_sap/sap_layer.rs | 7 |
2 files changed, 15 insertions, 0 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..8f47396 100644 --- a/src/geometry/broad_phase_multi_sap/broad_phase.rs +++ b/src/geometry/broad_phase_multi_sap/broad_phase.rs @@ -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) { diff --git a/src/geometry/broad_phase_multi_sap/sap_layer.rs b/src/geometry/broad_phase_multi_sap/sap_layer.rs index 216ea05..4316ecd 100644 --- a/src/geometry/broad_phase_multi_sap/sap_layer.rs +++ b/src/geometry/broad_phase_multi_sap/sap_layer.rs @@ -240,6 +240,13 @@ impl SAPLayer { let region_proxy = &mut proxies[region_id]; let region = region_proxy.data.as_region_mut(); + // NOTE: sometimes, rounding errors will generate start/end indices + // that lie outside of the actual region’s AABB. + // TODO: is there a smarter, more efficient way of dealing with this? + if !region_proxy.aabb.intersects(aabb_to_discretize) { + continue; + } + if let Some(actual_aabb) = actual_aabb { // NOTE: if the actual AABB doesn't intersect the // region’s AABB, then we need to delete the |