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overlap_shape copies the proxy's points before testing #105

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Merged
nicolas-maman merged 1 commit into from
Oct 4, 2026
Merged

overlap_shape copies the proxy's points before testing #105

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7 changes: 6 additions & 1 deletion aephysics/shape/module.ae
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Original file line number Diff line number Diff line change
Expand Up @@ -326,7 +326,12 @@ shape_cast_shape(shape: *Shape, t: Transform, proxy: ShapeProxy, translation: Ve
return output
}

overlap_shape(shape: *Shape, t: Transform, proxy: ShapeProxy) -> bool {
overlap_shape(shape: *Shape, t: Transform, given: ShapeProxy) -> bool {
// The proxy's points copied first, as shape_cast_shape does: one made by
// make_shape_proxy for a sphere or capsule lives in the scratch the
// sphere's and capsule's overlaps write their own shape into, so GJK
// would have tested the shape against itself.
proxy = mesh.make_local_proxy(given, math.transform_identity(), local_buffer())
kind = shape.kind
if kind == SHAPE_CAPSULE { return capsule.overlap_capsule(shape.capsule, t, proxy) }
if kind == SHAPE_COMPOUND { return compound.overlap_compound(shape.compound, t, proxy) }
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16 changes: 16 additions & 0 deletions tests/test_shape.ae
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Expand Up @@ -558,6 +558,21 @@ test_far_origin() {
free(offsets_block)
}

// A proxy made from one sphere tested against another far away: the
// sphere's (and capsule's) overlap used to write its own shape into the
// scratch the proxy's points live in, and so found its own copy touching.
test_overlap_own_proxy() {
ball_a = shape.sphere_shape(manifold.sphere(math.vec3_zero(), 0.5), 1.0)
ball_b = shape.sphere_shape(manifold.sphere(math.vec3(10.0, 0.0, 0.0), 0.5), 1.0)
rod = shape.capsule_shape(manifold.capsule(math.vec3(10.0, 0.0, 0.0), math.vec3(10.0, 2.0, 0.0), 0.5), 1.0)
p = shape.make_shape_proxy(&ball_a)
ensure("own proxy: far sphere apart", shape.overlap_shape(&ball_b, math.transform_identity(), p) == false)
p = shape.make_shape_proxy(&ball_a)
ensure("own proxy: far capsule apart", shape.overlap_shape(&rod, math.transform_identity(), p) == false)
near = shape.sphere_shape(manifold.sphere(math.vec3(0.8, 0.0, 0.0), 0.5), 1.0)
p = shape.make_shape_proxy(&ball_a)
ensure("own proxy: near sphere touching", shape.overlap_shape(&near, math.transform_identity(), p))
}
test_dispatch() {
origin = math.vec3(0.0 - 4.0, 0.0, 0.0)
translation = math.vec3(8.0, 0.0, 0.0)
Expand Down Expand Up @@ -817,6 +832,7 @@ test_filters() {
main() {
before = basics.alloc_count()
test_mass()
test_overlap_own_proxy()
test_aabb()
test_ray_cast_sphere()
test_ray_cast_capsule()
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