EPA endless loops

[ilia-glushchenko]

Create a scene with only two following bodies:

Position:
x   9.3000000000000007  
y   6.7000000000000002  
z   6   
Size vectors:
x   0.40000000596046448 
y   0.20000000298023224 
z   0.69999998807907104 

Sphere
Position:
x   8.9000000000000004  
y   6.9000000000000004  
z   6.7000000000000002  
Radius  1   

EPA will fall into the endless loop.

[ilia-glushchenko]

Workaround for this issue. https://github.com/Godlike/Pegasus/pull/94/commits/72c8c9b733f5ff94f61b5f4f72b7d0b94dafde01

[ilia-glushchenko]

pegasus::mechanics::Body box;
box.linearMotion.position = { 8.1999999999999993, 5.0000000000000000, 1.0000000000000000 };
glm::dvec3 iAxis{ 0.60000002384185791, 0.00000000000000000, 0.00000000000000000 };
glm::dvec3 jAxis{ 0.00000000000000000, 0.40000000596046448, 0.00000000000000000 };
glm::dvec3 kAxis{ 0.00000000000000000, 0.00000000000000000, 0.50000000000000000 };
g_objects.push_back(&demo.MakeBox(
    box, iAxis, jAxis, kAxis, pegasus::scene::Primitive::Type::DYNAMIC
));

pegasus::mechanics::Body sphere;
sphere.linearMotion.position = { 7.5999999999999996, 5.4000000000000004, 0.69999999999999996 };
g_objects.push_back(&demo.MakeSphere(
    sphere, 0.5, pegasus::scene::Primitive::Type::DYNAMIC
));

Will create an endless loop condition where the EPA would approach the round edge of the CSO but the time it takes it actually get to the termination is appears to grow exponentially.