Add comments, clean a little bit

dimforge · Sep 5, 2024 · 75c903a · 75c903a
1 parent 4ab5a7d
commit 75c903a
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Showing 3 changed files with 8 additions and 1 deletion.
diff --git a/crates/parry3d/tests/geometry/epa3.rs b/crates/parry3d/tests/geometry/epa3.rs
@@ -51,5 +51,6 @@ fn triangle_vertex_touches_triangle_edge_epa() {
         None,
     );
 
-    assert!(!matches!(gjk_result, query::gjk::GJKResult::NoIntersection(_)), "PARTIAL SUCCESS: contact_support_map_support_map_with_params did not crash but did not produce the desired result");
+    assert!(!matches!(gjk_result, query::gjk::GJKResult::NoIntersection(_)),
+        "PARTIAL SUCCESS: contact_support_map_support_map_with_params did not crash but did not produce the desired result");
 }
diff --git a/src/query/epa/epa2.rs b/src/query/epa/epa2.rs
@@ -250,6 +250,9 @@ impl EPA {
             }
 
             if !(proj_inside1 || proj_inside2 || proj_inside3) {
+                // Related issues:
+                // https://github.com/dimforge/parry/issues/253
+                // https://github.com/dimforge/parry/issues/246
                 log::debug!("Hit unexpected state in EPA: proj_inside1, proj_inside2 and proj_inside3 are all false. At least one of them should be true.");
                 return None;
             }

diff --git a/src/query/epa/epa3.rs b/src/query/epa/epa3.rs
@@ -286,6 +286,9 @@ impl EPA {
             }
 
             if !(proj_inside1 || proj_inside2 || proj_inside3 || proj_inside4) {
+                // Related issues:
+                // https://github.com/dimforge/parry/issues/253
+                // https://github.com/dimforge/parry/issues/246
                 log::debug!("Hit unexpected state in EPA: proj_is_inside1, proj_is_inside2, proj_is_inside3 and proj_inside4 are all false. At least one of them should be true.");
                 return None;
             }