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fix: pad query radii with point radii before top AABB check in CAPT #82

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Merged
claytonwramsey merged 2 commits into from
Dec 17, 2025
Merged

fix: pad query radii with point radii before top AABB check in CAPT #82

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ca9ff14
fix: padd query radii by point radii before top AABB check of CAPT
claytonwramsey Dec 17, 2025
82265ab
chore: remove a header that my language server was a little too excit…
claytonwramsey Dec 17, 2025
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14 changes: 6 additions & 8 deletions src/impl/vamp/collision/capt.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -369,7 +369,10 @@ namespace vamp::collision
// Returns `true` if in collision and `false` if not.
[[nodiscard]] auto collides(const Point &center, float r) const noexcept -> bool
{
if (aabb_top.distsq_to(center) > r * r)
// Pad query radii by radius of points.
r = r + r_point;
const float radius_sq = r * r;
if (aabb_top.distsq_to(center) > radius_sq)
{
return false;
}
Expand All @@ -383,8 +386,6 @@ namespace vamp::collision

const std::size_t z = test_idx - tests.size();

r += r_point;
const float radius_sq = r * r;
if (aabbs[z].distsq_to(center) > radius_sq)
{
return false;
Expand Down Expand Up @@ -423,6 +424,8 @@ namespace vamp::collision
// - `radii`: SIMD vector of the radii of each sphere.
auto collides_simd(const std::array<FVectorT, 3> &centers, FVectorT radii) const noexcept -> bool
{
// Padd radii by radius of points.
radii = radii + r_point;
// Test against top AABB
FVectorT inbounds =
(centers[0] + radii >= aabb_top.lower[0]) & (centers[0] - radii <= aabb_top.upper[0]);
Expand Down Expand Up @@ -453,11 +456,6 @@ namespace vamp::collision

const IVectorT zs = idxs - tests.size();

// Test whether points are in the AABBs
// NOTE: Now is when we need to add r_point, since these AABBs are really "point volume AABBs" -
// we can't just test if the query is in the AABB, but rather if it's in the AABB when fattened by
// the radius of the points the AABB contains
radii = radii + r_point;
IVectorT zs6 = zs * 6;
const float *const aabb_ptr = &aabbs.front().lower.front();

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