RayCast/PointTest: Fix exit condition (#98)

notgiven688 · Feb 18, 2024 · da8903d · da8903d
1 parent 1850ae5
commit da8903d
Showing 1 changed file with 12 additions and 2 deletions.
diff --git a/src/Jitter2/Collision/NarrowPhase/NarrowPhase.cs b/src/Jitter2/Collision/NarrowPhase/NarrowPhase.cs
@@ -69,7 +69,10 @@ public bool PointTest(ISupportMap supportA, in JVector origin)
                     return false;
                 }
 
-                if (!convexPolytope.AddPoint(w)) return false;
+                if (!convexPolytope.AddPoint(w))
+                {
+                    goto converged;
+                }
 
                 v = convexPolytope.GetClosestTriangle().ClosestToOrigin;
 
@@ -78,6 +81,8 @@ public bool PointTest(ISupportMap supportA, in JVector origin)
                 distSq = v.LengthSquared();
             }
 
+            converged:
+
             return true;
         }
 
@@ -129,13 +134,18 @@ public bool RayCast(ISupportMap supportA, in JVector origin, in JVector directio
                     normal = v;
                 }
 
-                convexPolytope.AddPoint(w);
+                if (!convexPolytope.AddPoint(w))
+                {
+                    goto converged;
+                }
 
                 v = convexPolytope.GetClosestTriangle().ClosestToOrigin;
 
                 distSq = v.LengthSquared();
             }
 
+            converged:
+
             fraction = lambda;
 
             float nlen2 = normal.LengthSquared();