SdfLib returns the sum of the distance from a given point to the bounding box and a saved minimum distance from the surface over the whole box boundary. This underestimates the true distance and can cause spurious contacts and jittering. This CL performs a box projection of points outside the bounding box and adds the distance of the original point from the box to the distance of the projected point to the surface. This overestimates the true distance and avoids spurious collisions.
PiperOrigin-RevId: 586701933
Change-Id: I22eecb9757fa22359440156ef6433135648fa3ff
Alessio Quaglino
4c8ffb44bf