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erincatto / box2d

Box2D is a 2D physics engine for games

Home Page:https://box2d.org

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Warmstart GJK fails

NStenum opened this issue · comments

commented

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commented

Getmetric for 3 points may return a negative number which will make readcache reset simplex.
Suggest using sqr values which will speedup getmetric for 2 points.
Also, when resetting simplex - keep first simplexvertex instead of picking new arbitrary points