Separating case: closest triangle normal not equal to collision normal

notgiven688 · Oct 2, 2024 · d283167 · d283167
1 parent 4a8dad3
commit d283167
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/src/GJKEPA.cs b/src/GJKEPA.cs
@@ -398,7 +398,8 @@ public bool Solve(out JVector point1, out JVector point2, out JVector normal, ou
                     point1 = bc.X * VerticesA[ctri.A] + bc.Y * VerticesA[ctri.B] + bc.Z * VerticesA[ctri.C];
                     point2 = bc.X * VerticesB[ctri.A] + bc.Y * VerticesB[ctri.B] + bc.Z * VerticesB[ctri.C];
 
-                    normal = ctri.Normal * (1.0d / Math.Sqrt(ctri.NormalSq));
+                    if (Math.Abs(separation) > NumericEpsilon) normal = -ctri.ClosestToOrigin * (1.0f / separation);
+                    else normal = ctri.Normal * (1.0f / Math.Sqrt(ctri.NormalSq));
 
                     return true;
                 }