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Fix Vec3A mismatch in obvhs sweep helpers #947

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Fix Vec3A mismatch in obvhs sweep helpers #947

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20 changes: 16 additions & 4 deletions src/collider_tree/obvhs_ext.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -478,9 +478,13 @@ pub trait ObvhsAabbExt {
impl ObvhsAabbExt for Aabb {
#[inline(always)]
fn distance_to_point_squared(&self, point: Vec3A) -> f32 {
let point = (self.min * 0.0)
.with_x(point.x)
.with_y(point.y)
.with_z(point.z);
let point_min = self.min - point;
let point_max = self.max - point;
let zero = Vec3A::ZERO;
let zero = self.min * 0.0;
let dist_min = point_min.max(zero);
let dist_max = point_max.min(zero);
dist_min.length_squared().min(dist_max.length_squared())
Expand All @@ -489,7 +493,11 @@ impl ObvhsAabbExt for Aabb {
#[inline(always)]
fn intersect_sweep(&self, sweep: &Sweep) -> f32 {
let minkowski_sum_shift = -sweep.aabb.center();
let minkowski_sum_margin = sweep.aabb.diagonal() * 0.5 + Vec3A::splat(sweep.tmin);
let mut minkowski_sum_margin = sweep.aabb.diagonal() * 0.5;
minkowski_sum_margin = minkowski_sum_margin
.with_x(minkowski_sum_margin.x + sweep.tmin)
.with_y(minkowski_sum_margin.y + sweep.tmin)
.with_z(minkowski_sum_margin.z + sweep.tmin);

let msum = Aabb {
min: self.min + minkowski_sum_shift - minkowski_sum_margin,
Expand All @@ -498,8 +506,12 @@ impl ObvhsAabbExt for Aabb {

// Now, we cast a ray from the origin along the velocity,
// and intersect it with the Minkowski sum.
let t1 = msum.min * sweep.inv_velocity;
let t2 = msum.max * sweep.inv_velocity;
let inv_velocity = (msum.min * 0.0)
.with_x(sweep.inv_velocity.x)
.with_y(sweep.inv_velocity.y)
.with_z(sweep.inv_velocity.z);
let t1 = msum.min * inv_velocity;
let t2 = msum.max * inv_velocity;

let tmin = t1.min(t2);
let tmax = t1.max(t2);
Expand Down