Guard against overflowing the contact manifold

notgiven688 · Nov 8, 2024 · da07052 · da07052
1 parent 541f6b0
commit da07052
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/src/Jitter2/World.Detect.cs b/src/Jitter2/World.Detect.cs
@@ -160,6 +160,8 @@ static void Support(RigidBodyShape shape, in JVector direction, out JVector v)
                         float diff = JVector.Dot(p - pB, normal);
                         mB[manifoldCount] = p;
                         mA[manifoldCount++] = p - (diff - penetration) * normal;
+
+                        if (manifoldCount == 6) return;
                     }
                 }
             }
@@ -193,6 +195,8 @@ static void Support(RigidBodyShape shape, in JVector direction, out JVector v)
                         float diff = -JVector.Dot(p - pA, normal);
                         mA[manifoldCount] = p;
                         mB[manifoldCount++] = p - (diff - penetration) * normal;
+
+                        if (manifoldCount == 6) return;
                     }
                 }
             }