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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@204 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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chappuis.daniel 2009-10-18 19:24:18 +00:00
parent 47f4cc6e6e
commit 027c0382e5
1 changed files with 3 additions and 35 deletions
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38
sources/reactphysics3d/collision/CollisionDetection.cpp
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@ -43,19 +43,9 @@ CollisionDetection::~CollisionDetection() {
} }
// Compute all the possible collisions pairs of bodies (broad-phase)
void CollisionDetection::computePossibleCollisionPairs() {
// TODO : Implement this method
}
// Compute all collision contacts between bodies (narrow-phase)
void CollisionDetection::computeCollisionContacts() {
// TODO : Implement this method
}
// Compute the collision detection for the time interval [0, timeMax] // Compute the collision detection for the time interval [0, timeMax]
// The method returns true if a collision occurs in the time interval [0, timeMax] // The method returns true if a collision occurs in the time interval [0, timeMax]
bool CollisionDetection::computeCollisionDetection(CollisionWorld* collisionWorld, const Time& timeMax, Time& timeFirstCollision) { bool CollisionDetection::computeCollisionDetection(CollisionWorld* collisionWorld) {
bool existsCollision = false; // True if a collision is found in the time interval [0, timeMax] bool existsCollision = false; // True if a collision is found in the time interval [0, timeMax]
@ -74,34 +64,12 @@ bool CollisionDetection::computeCollisionDetection(CollisionWorld* collisionWorl
if(broadPhaseAlgorithm->testCollisionPair(&obb1, &obb2)) { if(broadPhaseAlgorithm->testCollisionPair(&obb1, &obb2)) {
Contact* contact = 0; Contact* contact = 0;
// Get the velocities of both bodies
Vector3D velocity1 = rigidBody1->getInterpolatedState().getLinearVelocity();
Vector3D velocity2 = rigidBody2->getInterpolatedState().getLinearVelocity();
// Use the narrow-phase algorithm to check if the two bodies really collide // Use the narrow-phase algorithm to check if the two bodies really collide
if(narrowPhaseAlgorithm->testCollision(&obb1, &obb2, &contact, velocity1, velocity2, timeMax)) { if(narrowPhaseAlgorithm->testCollision(&obb1, &obb2, &contact, velocity1, velocity2, timeMax)) {
assert(contact != 0); assert(contact != 0);
existsCollision = true;
// Check if the collision time is the first collision between all bodies // Add the new collision contact into the collision world
if (contact->getTime() < timeFirstCollision) { collisionWorld->addConstraint(contact);
// Update the first collision time between all bodies
timeFirstCollision.setValue(contact->getTime().getValue());
// Add the new collision contact into the collision world
collisionWorld->addConstraint(contact);
// TODO : Here we add some contacts to the collisionWorld when we
// found a new timeFirst value. But each time we found a new timeFirst
// value, the contacts that have been added before have to be deleted.
// Therefore, we have to find a way to do that. For instance, we can
// associate a contactTime value at each contact and delete all contacts
// that are no the first contact between all bodies.
}
else {
// Delete the contact
delete contact;
}
} }
} }
} }