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EigenMesh3D raycaster should now be able to pick a correct intersection on the object or inside a hole
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5 changed files with 147 additions and 57 deletions
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@ -83,8 +83,8 @@ void SupportPointGenerator::project_onto_mesh(std::vector<sla::SupportPoint>& po
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sla::EigenMesh3D::hit_result hit_up = m_emesh.query_ray_hit(p.cast<double>(), Vec3d(0., 0., 1.));
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sla::EigenMesh3D::hit_result hit_down = m_emesh.query_ray_hit(p.cast<double>(), Vec3d(0., 0., -1.));
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bool up = hit_up.face() != -1;
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bool down = hit_down.face() != -1;
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bool up = hit_up.is_hit();
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bool down = hit_down.is_hit();
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if (!up && !down)
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continue;
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