Tinytweak; shouldn't reject things that were incorrectly rejected bef…

…ore.
bepu · Dec 14, 2023 · 79f982d · 79f982d
1 parent 0c20dea
commit 79f982d
Showing 1 changed file with 2 additions and 3 deletions.
diff --git a/BepuPhysics/Collidables/ConvexHullHelper.cs b/BepuPhysics/Collidables/ConvexHullHelper.cs
@@ -202,7 +202,7 @@ static void FindExtremeFace(
                 //        }
                 //    }
                 //}
-                var coplanar = Vector.LessThanOrEqual(Vector.Abs(dot), planeEpsilon);
+                var coplanar = Vector.GreaterThan(dot, -planeEpsilon);
                 if (Vector.LessThanAny(coplanar, Vector<int>.Zero))
                 {
                     var bundleBaseIndex = i << BundleIndexing.VectorShift;
@@ -318,8 +318,7 @@ static int FindNextIndexForFaceHull2(Vector2 start, Vector2 previousEdgeDirectio
                 if (alongNormal > planeEpsilon && !ignoreSlot)
                     Console.WriteLine("It looks like we've found a point significantly beyond the bounding plane we just identified; how's that possible?");
 
-                //TODO: Here and in the 3d variant: should you really be using the abs? That rejects anything that is numerically too far outside the face, which... should be rare, but we shouldn't let that point just corrupt things later.
-                if (float.Abs(alongNormal) <= planeEpsilon)
+                if (alongNormal > -planeEpsilon)
                 {
                     var alongEdge = Vector2.Dot(toCandidate, edgeDirection);
                     var rawDistance = float.Sqrt(alongEdge * alongEdge + alongNormal * alongNormal);