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https://github.com/bulletphysics/bullet3/issues/1703erwincoumans authored
In a nutshell, we added a more reliable check, based on if the origin is in the GJK simplex, to determine if we are really intersecting and need to run EPA. See also "Real-time Collision Detection with Implicit Objects" by Leif Olvang Todo: integrate the simplex penetration check directly inside the Bullet btVoronoiSimplexSolver and remove this temporary code from libCCD Note, for large differences in shapes, use double precision build!
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