From 0993c07f110a86babee57d6cb38a406fe2a683df Mon Sep 17 00:00:00 2001
From: Maciej Srokowski <srokowski.maciej@gmail.com>
Date: Fri, 11 Dec 2020 18:09:42 +0100
Subject: [PATCH] Fix endless loop issue in nonlinear_toi algo. It was caused
 by floating point rounding error that caused given time difference to never
 reach arbitrarily set tolerance

---
 .../nonlinear_time_of_impact_support_map_support_map.rs         | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/query/nonlinear_time_of_impact/nonlinear_time_of_impact_support_map_support_map.rs b/src/query/nonlinear_time_of_impact/nonlinear_time_of_impact_support_map_support_map.rs
index 2d49197b..a7c6316e 100644
--- a/src/query/nonlinear_time_of_impact/nonlinear_time_of_impact_support_map_support_map.rs
+++ b/src/query/nonlinear_time_of_impact/nonlinear_time_of_impact_support_map_support_map.rs
@@ -113,7 +113,7 @@ where
                             break;
                         }
 
-                        if max_t - min_t < abs_tol {
+                        if max_t - min_t < max_t.max(na::convert(1.)) * abs_tol {
                             result.toi = min_t;
                             break;
                         }