Commit 3cb26847 authored by panjia1983's avatar panjia1983
Browse files

Update src/intersect.cpp

change the normal direction returned for triangle-triangle intersection, now it is from object 1 to object 2, consistent with shape intersection returned by libccd and gjk.
parent 4d930564
......@@ -787,7 +787,7 @@ bool Intersect::intersect_Triangle(const Vec3f& P1, const Vec3f& P2, const Vec3f
contact_points[i] = deepest_points2[i];
}
*normal = -n1;
*normal = n1;
*penetration_depth = penetration_depth2;
}
else
......@@ -798,7 +798,7 @@ bool Intersect::intersect_Triangle(const Vec3f& P1, const Vec3f& P2, const Vec3f
contact_points[i] = deepest_points1[i];
}
*normal = n2;
*normal = -n2;
*penetration_depth = penetration_depth1;
}
}
......@@ -905,7 +905,7 @@ bool Intersect::intersect_Triangle(const Vec3f& P1, const Vec3f& P2, const Vec3f
contact_points[i] = deepest_points2[i];
}
*normal = -n1;
*normal = n1;
*penetration_depth = penetration_depth2;
}
else
......@@ -916,7 +916,7 @@ bool Intersect::intersect_Triangle(const Vec3f& P1, const Vec3f& P2, const Vec3f
contact_points[i] = deepest_points1[i];
}
*normal = n2;
*normal = -n2;
*penetration_depth = penetration_depth1;
}
}
......
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