Fix ball/compound intersection test + 2D convex hull orientation - Githubissues

dimforge / parry

2D and 3D collision-detection library for Rust.

https://parry.rs

Apache License 2.0

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Fix ball/compound intersection test + 2D convex hull orientation #53

Closed sebcrozet closed 2 years ago

sebcrozet commented 2 years ago

Modified

Until now, the orientation of the polygon computed by 2D convex hull computation parry2d::transformation::convex_hull and parry2d::transformation::convex_hull_idx wasn't specified (and was generally in clockwise order). Now, this orientation is explicitly specified in the documentation and is set to counter-clockwise order (which is coherent with orientation expected by, e.g., the ConvexPolygon type).

Fixed

Fix the orientation of the polygons generated by the 2D convex polygon decomposition (they are now always oriented counter-clockwise as expected by the ConvexPolygon type).
Fix the intersection test between a 2D ball and a 2D compound shape.