From d283167614c28ee67818c767b533005d04ed173e Mon Sep 17 00:00:00 2001
From: notgiven688 <notgiven688@users.noreply.github.com>
Date: Thu, 3 Oct 2024 00:25:44 +0200
Subject: [PATCH] Separating case: closest triangle normal not equal to
 collision normal

---
 src/GJKEPA.cs | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/GJKEPA.cs b/src/GJKEPA.cs
index 187dbf4..a307852 100644
--- a/src/GJKEPA.cs
+++ b/src/GJKEPA.cs
@@ -398,7 +398,8 @@ public bool Solve(out JVector point1, out JVector point2, out JVector normal, ou
                     point1 = bc.X * VerticesA[ctri.A] + bc.Y * VerticesA[ctri.B] + bc.Z * VerticesA[ctri.C];
                     point2 = bc.X * VerticesB[ctri.A] + bc.Y * VerticesB[ctri.B] + bc.Z * VerticesB[ctri.C];
 
-                    normal = ctri.Normal * (1.0d / Math.Sqrt(ctri.NormalSq));
+                    if (Math.Abs(separation) > NumericEpsilon) normal = -ctri.ClosestToOrigin * (1.0f / separation);
+                    else normal = ctri.Normal * (1.0f / Math.Sqrt(ctri.NormalSq));
 
                     return true;
                 }