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Ran 21 Feb 2020 07:20PM UTC

Files 111

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Committed 21 Feb 2020 05:49PM UTC coverage: 72.774%. Remained the same

Job # BUILD_TYPE=Debug COVERALLS=ON

Build Type

cron

travis-ci

Committed by

web-flow

Commit Message

Resolve a new GJK/EPA real world error (#446)

* Adds another regression test from real-world failure

box-box regression 6 in signed distance test.

* Clean up simplex -> polytope conversion

This specifically addresses issues when converting a 3-simplex into a
tetrahedron. It was inspired by a real-world failure case which revealed
that a conversion was performed that broke EPA assumptions. The changes
consist of:

1. Superficial formatting changes.
2. Added documentation.
3. Testing squared distance against epsilon _squared_ (instead of epsilon).
   (This last led to the example failure case to pass.)
4. Eliminate redundant degeneracy tests; if the origin lies on one face,
   simply demote to that triangle and continue.

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