From 32adee41d0da3cb3d5efa2cff02b4dc4f9cc665e Mon Sep 17 00:00:00 2001
From: Joona Aalto <jondolf.dev@gmail.com>
Date: Fri, 22 Mar 2024 18:58:23 +0200
Subject: [PATCH] Fix normal direction for GJK ray casting inside non-solid
shapes
---
src/query/ray/ray_support_map.rs | 8 ++++++--
1 file changed, 6 insertions(+), 2 deletions(-)
diff --git a/src/query/ray/ray_support_map.rs b/src/query/ray/ray_support_map.rs
index 21d6c720..8db3e8bd 100644
--- a/src/query/ray/ray_support_map.rs
+++ b/src/query/ray/ray_support_map.rs
@@ -47,10 +47,14 @@ where
simplex.reset(CSOPoint::single_point(supp - new_ray.origin.coords));
gjk::cast_local_ray(shape, simplex, &new_ray, shift + eps).and_then(
- |(toi, normal)| {
+ |(toi, outward_normal)| {
let toi = shift - toi;
if toi <= max_toi {
- Some(RayIntersection::new(toi, normal, FeatureId::Unknown))
+ Some(RayIntersection::new(
+ toi,
+ -outward_normal,
+ FeatureId::Unknown,
+ ))
} else {
None
}