From eef0fd0ab59edf89868ec026b09214abfa0f6d3b Mon Sep 17 00:00:00 2001
From: Ye Han <ye.han@khq.kitware.com>
Date: Tue, 3 Nov 2020 15:26:35 -0500
Subject: [PATCH] BUG: Fix mismatch between point-capsule CD and vtkSource
---
.../CollisionDetection/imstkNarrowPhaseCD.cpp | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/Source/CollisionDetection/CollisionDetection/imstkNarrowPhaseCD.cpp b/Source/CollisionDetection/CollisionDetection/imstkNarrowPhaseCD.cpp
index d6fe6dcea..7a1977184 100644
--- a/Source/CollisionDetection/CollisionDetection/imstkNarrowPhaseCD.cpp
+++ b/Source/CollisionDetection/CollisionDetection/imstkNarrowPhaseCD.cpp
@@ -254,9 +254,9 @@ pointToCapsule(const Vec3r& point, uint32_t pointIdx, Capsule* const capsule,
// Get position of end points of the capsule
// TODO: Fix this issue of extra computation in future
- const Vec3d p0 = capsulePos;
- const Vec3d p1 = p0 + capsule->getOrientationAxis() * length;
- const Vec3d mid = 0.5 * (p0 + p1);
+ const Vec3d mid = capsulePos;
+ const Vec3d p1 = mid + 0.5 * capsule->getOrientationAxis() * length;
+ const Vec3d p0 = 2 * mid - p1;
const Vec3d p = p1 - p0;
const auto pDotp = p.dot(p);
const auto pDotp0 = p.dot(p0);
--
GitLab