Guard against overflowing the contact manifold

notgiven688 · Nov 8, 2024 · 1ad1a02 · 1ad1a02
1 parent 541f6b0
commit 1ad1a02
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/src/Jitter2/World.Detect.cs b/src/Jitter2/World.Detect.cs
@@ -160,6 +160,8 @@ static void Support(RigidBodyShape shape, in JVector direction, out JVector v)
                         float diff = JVector.Dot(p - pB, normal);
                         mB[manifoldCount] = p;
                         mA[manifoldCount++] = p - (diff - penetration) * normal;
+
+                        if (manifoldCount == 6) return;
                     }
                 }
             }
@@ -193,6 +195,8 @@ static void Support(RigidBodyShape shape, in JVector direction, out JVector v)
                         float diff = -JVector.Dot(p - pA, normal);
                         mA[manifoldCount] = p;
                         mB[manifoldCount++] = p - (diff - penetration) * normal;
+
+                        if (manifoldCount == 6) return;
                     }
                 }
             }
@@ -401,7 +405,7 @@ private void Detect(IDynamicTreeProxy proxyA, IDynamicTreeProxy proxyB)
                 arbiter.Handle.Data.AddContact(mfA, mfB, normal, nd);
             }
 
-            arbiter.Handle.Data.AddContact(pA, pB, normal, penetration);
+            if(cvh.Count < 4) arbiter.Handle.Data.AddContact(pA, pB, normal, penetration);
 
             memContacts.ResizeLock.ExitReadLock();
         }