Occasional missed collisions in GJK (fixed)
Posted: Wed Jan 07, 2009 5:39 pm
Hi,
I'm using the GJK routine from Bullet to generate collisions between convex hulls. For my simulation, it's crucial for stability that even single collision events aren't missed. However what I'm seeing is that very occasionally, obviously penetrating shapes return no collision results. My question is, is this an inherent floating point accuracy issue with GJK/EPA, or possibly just a bug in the Bullet implementation? Does GJK struggle with degenerate cases such as coincident or nearly coincident objects?
Cheers.
I'm using the GJK routine from Bullet to generate collisions between convex hulls. For my simulation, it's crucial for stability that even single collision events aren't missed. However what I'm seeing is that very occasionally, obviously penetrating shapes return no collision results. My question is, is this an inherent floating point accuracy issue with GJK/EPA, or possibly just a bug in the Bullet implementation? Does GJK struggle with degenerate cases such as coincident or nearly coincident objects?
Cheers.