+ glm::vec3 correction(0.0f);
+ // only apply correction for axes where penetration is only in one direction
+ for (std::size_t i = 0; i < 3; ++i) {
+ if (min_pen[i] < -std::numeric_limits<float>::epsilon()) {
+ if (max_pen[i] < std::numeric_limits<float>::epsilon()) {
+ correction[i] = -min_pen[i];
+ }
+ } else {
+ correction[i] = -max_pen[i];
+ }
+ }
+ // correction may be zero in which case normalize() returns NaNs
+ if (dot(correction, correction) < std::numeric_limits<float>::epsilon()) {
+ return glm::vec3(0.0f);
+ }
+ glm::vec3 normal(normalize(correction));