Fix incoherent overlap #311
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According to the definition of overlap, R0,T0 expressed the placement of the BV b1 and b2 is at the identity. Consequently, we need either to transfert b1 to the origin or to express b2 in the frame of b1, defined by (R0,T0).
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I am very surprised there is such a bug in this part of the code. If that's the case, how is it possible that it did not seem to affect Mesh - Shape results ? EDIT: Ok, I understand now. There was a discrepancy between the function documentation and the function behavior. |
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It seems you adjusted the code to the documentation, and not the opposite. I am fine with this change but I am surprised you didn't do the opposite. |
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I've just aligned wrt the doc and the AABB case. |
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According to the definition of overlap, R0,T0 expressed the placement of the BV b1 and b2 is at the identity.
Consequently, we need either to transfert b1 to the origin or to express b2 in the frame of b1, defined by (R0,T0).