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Fix specialized shape to shape min distance update and enable_signed_distance flag - #885
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jorisv merged 6 commits intoNov 4, 2026
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@jorisv addressed your feedback here; let me know if you have any other comments. |
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@mjd3 Thanks, the PR is approved, it will be merged soon. |
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Apparently your patch fix an unit test that was failing for a long time. |
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Fixes two issues:
result.min_distance(and o1/o2/nearest_points/normal) unconditionally, while the generic ShapeShapeDistancer path checksrequest.isSatisfiedand merges throughDistanceResult::update. When a DistanceResult is shared across several pairs (e.g., broadphase checks) a specialized pair evaluated after a closer pair overwrote the minimum, so the query returned the last evaluated pair instead of the closest one. Fix is to merge withDistanceResult::update, like the generic path does; added regression test for this behavior as well.compute_signed_distanceargument, so withDistanceRequest::enable_signed_distance = falsea specialized pair could still report a negative min_distance (different from documentation/GJK path). Fix is to clamp the result at zero; the witness points and normal are unchanged.