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dimforge / ncollide

2 and 3-dimensional collision detection library in Rust.
https://ncollide.org
Apache License 2.0
921 stars 107 forks source link

Improve efficiency and accuracy of ball/convex polyhedron contact computation #337

Closed sebcrozet closed 4 years ago

sebcrozet commented 4 years ago

This patch makes query::contact use the point-projection algorithm instead of the general support-map/support-map contact computation algorithm when a Ball is involved.

The narrow-phase already had a specialized case for this. Now query::contact has one too.