fix: pad query radii with point radii before top AABB check in CAPT #82
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
In CAPTs, point radii are fictitious: their only effect is to pad the radii of spheres used in queries. Previously, the implementation of the CAPT waited until after query spheres had been classified into their leaf cells, then padded the query radii. However, this means that the CAPT could erroneously accept some spheres as non-colliding if they did not intersect the top AABB unless padded by the point radius.
This fixes erroneous acceptances by moving the padding step to the very start of the query procedures for CAPTs.