PhysX 3.4.1, APEX 1.4.1 Release @22845541v3.4.1

1 files changed, 5 insertions, 10 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactConvexHeightField.cpp b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactConvexHeightField.cpp
index 8ba4e2d7..979d75be 100644
--- a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactConvexHeightField.cpp
+++ b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactConvexHeightField.cpp
@@ -208,11 +208,9 @@ bool Gu::pcmContactConvexHeightField(GU_CONTACT_METHOD_ARGS)
 	const bool idtScaleConvex = getPCMConvexData(shape0, convexScaling, hullAABB, polyData);
 
 	const Vec3V vScale = V3LoadU_SafeReadW(shapeConvex.scale.scale);	// PT: safe because 'rotation' follows 'scale' in PxMeshScale
-	const FloatV convexMargin = Gu::CalculatePCMConvexMargin(hullData, vScale);
-	const FloatV epsilon = FLoad(GU_PCM_MESH_MANIFOLD_EPSILON);
-	const FloatV toleranceLength = FLoad(params.mToleranceLength);
-	const FloatV toleranceMargin = FMul(epsilon, toleranceLength);
-	const FloatV minMargin = FMin(convexMargin, toleranceMargin);
+	
+	const PxReal toleranceLength = params.mToleranceLength;
+	const FloatV minMargin = Gu::CalculatePCMConvexMargin(hullData, vScale, toleranceLength, GU_PCM_MESH_MANIFOLD_EPSILON);
 
 	const QuatV vQuat = QuatVLoadU(&shapeConvex.scale.rotation.x);
 	Gu::ConvexHullV convexHull(hullData, V3Zero(), vScale, vQuat, shapeConvex.scale.isIdentity());
@@ -249,12 +247,9 @@ bool Gu::pcmContactBoxHeightField(GU_CONTACT_METHOD_ARGS)
 	const Vec3V p0 = V3LoadA(&transform0.p.x);
 
 	const Vec3V boxExtents = V3LoadU(shapeBox.halfExtents);
-	const FloatV boxMargin = Gu::CalculatePCMBoxMargin(boxExtents);
 
-	const FloatV epsilon = FLoad(GU_PCM_MESH_MANIFOLD_EPSILON);
-	const FloatV toleranceLength = FLoad(params.mToleranceLength);
-	const FloatV toleranceMargin = FMul(epsilon, toleranceLength);
-	const FloatV minMargin = FMin(boxMargin, toleranceMargin);
+	const PxReal toranceLength = params.mToleranceLength;
+	const FloatV minMargin = Gu::CalculatePCMBoxMargin(boxExtents, toranceLength, GU_PCM_MESH_MANIFOLD_EPSILON);
 
 	Gu::BoxV boxV(V3Zero(), boxExtents);