Updated parameter name and documentation for ManifoldBetweenTwoFaces

Jolt/Physics/Collision/ManifoldBetweenTwoFaces.cpp

@@ -134,7 +134,7 @@ void PruneContactPoints(Vec3Arg inPenetrationAxis, ContactPoints &ioContactPoint
 	ioContactPointsOn2 = points_to_keep_on_2;
 }
 
-void ManifoldBetweenTwoFaces(Vec3Arg inContactPoint1, Vec3Arg inContactPoint2, Vec3Arg inPenetrationAxis, float inSpeculativeContactDistanceSq, const ConvexShape::SupportingFace &inShape1Face, const ConvexShape::SupportingFace &inShape2Face, ContactPoints &outContactPoints1, ContactPoints &outContactPoints2 JPH_IF_DEBUG_RENDERER(, RVec3Arg inCenterOfMass))
+void ManifoldBetweenTwoFaces(Vec3Arg inContactPoint1, Vec3Arg inContactPoint2, Vec3Arg inPenetrationAxis, float inMaxContactDistanceSq	, const ConvexShape::SupportingFace &inShape1Face, const ConvexShape::SupportingFace &inShape2Face, ContactPoints &outContactPoints1, ContactPoints &outContactPoints2 JPH_IF_DEBUG_RENDERER(, RVec3Arg inCenterOfMass))
 {
 #ifdef JPH_DEBUG_RENDERER
 	if (ContactConstraintManager::sDrawContactPoint)
@@ -188,7 +188,7 @@ void ManifoldBetweenTwoFaces(Vec3Arg inContactPoint1, Vec3Arg inContactPoint2, V
 			for (Vec3 p2 : clipped_face)
 			{
 				float distance = (p2 - plane_origin).Dot(plane_normal); // Note should divide by length of plane_normal (unnormalized here)
-				if (distance <= 0.0f || Square(distance) < inSpeculativeContactDistanceSq * plane_normal_len_sq) // Must be close enough to plane, note we correct for not dividing by plane normal length here
+				if (distance <= 0.0f || Square(distance) < inMaxContactDistanceSq * plane_normal_len_sq) // Must be close enough to plane, note we correct for not dividing by plane normal length here
 				{
 					// Project point back on shape 1 using the normal, note we correct for not dividing by plane normal length here:
 					// p1 = p2 - (distance / sqrt(plane_normal_len_sq)) * (plane_normal / sqrt(plane_normal_len_sq));

Jolt/Physics/Collision/ManifoldBetweenTwoFaces.h

@@ -27,7 +27,7 @@ JPH_EXPORT void PruneContactPoints(Vec3Arg inPenetrationAxis, ContactPoints &ioC
 /// @param inContactPoint1 The contact point on shape 1 relative to inCenterOfMass
 /// @param inContactPoint2 The contact point on shape 2 relative to inCenterOfMass
 /// @param inPenetrationAxis The local space penetration axis in world space
-/// @param inSpeculativeContactDistanceSq Squared speculative contact distance, any contact further apart than this distance will be discarded
+/// @param inMaxContactDistanceSq After face 2 is clipped against face 1, each remaining point on face 2 is tested against the plane of face 1. If the distance^2 on the positive side of the plane is larger than this distance, the point will be discarded as a contact point.
 /// @param inShape1Face The supporting faces on shape 1 relative to inCenterOfMass
 /// @param inShape2Face The supporting faces on shape 2 relative to inCenterOfMass
 /// @param outContactPoints1 Returns the contact points between the two shapes for shape 1 relative to inCenterOfMass (any existing points in the output array are left as is)
@@ -35,7 +35,7 @@ JPH_EXPORT void PruneContactPoints(Vec3Arg inPenetrationAxis, ContactPoints &ioC
 #ifdef JPH_DEBUG_RENDERER
 /// @param inCenterOfMass Center of mass position of body 1
 #endif
-JPH_EXPORT void ManifoldBetweenTwoFaces(Vec3Arg inContactPoint1, Vec3Arg inContactPoint2, Vec3Arg inPenetrationAxis, float inSpeculativeContactDistanceSq, const ConvexShape::SupportingFace &inShape1Face, const ConvexShape::SupportingFace &inShape2Face, ContactPoints &outContactPoints1, ContactPoints &outContactPoints2
+JPH_EXPORT void ManifoldBetweenTwoFaces(Vec3Arg inContactPoint1, Vec3Arg inContactPoint2, Vec3Arg inPenetrationAxis, float inMaxContactDistanceSq, const ConvexShape::SupportingFace &inShape1Face, const ConvexShape::SupportingFace &inShape2Face, ContactPoints &outContactPoints1, ContactPoints &outContactPoints2
 #ifdef JPH_DEBUG_RENDERER
 	, RVec3Arg inCenterOfMass
 #endif