Improve convergence of epa algorithm in case it's stuck #245
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With this fix it actually returns a contact (didn't know how to draw the intersection better): 
Also it does so in 5 iterations and returns a collision, instead of doing 10000 iterations and returning None. |
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Thanks! I'd like to add a test for this scenario, would a setup like dimforge/rapier#531 be the correct candidate ? |
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Sure, thats what I used locally. I didn't put the effort to migrate that sample to the parry repo, but probably that would be next step. |
* attempt to make a test for epa convergence hanging * fix capsule height to be like original bug report * exact same parameters as original bug + adapt test
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🎉 yay! I'd like to add a changelog line before merging though |
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Improves converges by checking if it's stuck. In such a case return a result, as a better solution will not be found, and most likely they are intersecting but not within the EPS.
Also decrease max iterations from 10000 to 100. It usually converges in 4-5 iterations, no need to ever do as many. Also we never really want a precision that big, we are ok with a lower precision most times.
Possibly fixes: