Create CapsuleVsCapsuleNarrowPhaseInfoBatch class
This commit is contained in:
Daniel Chappuis
parent
6413d479ad
commit
11ddc3f079
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@ -97,6 +97,7 @@ SET (REACTPHYSICS3D_HEADERS
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"src/collision/narrowphase/NarrowPhaseInput.h"
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"src/collision/narrowphase/NarrowPhaseInfoBatch.h"
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"src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h"
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"src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h"
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"src/collision/shapes/AABB.h"
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"src/collision/shapes/ConvexShape.h"
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"src/collision/shapes/ConvexPolyhedronShape.h"
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@ -182,6 +183,7 @@ SET (REACTPHYSICS3D_SOURCES
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"src/collision/narrowphase/NarrowPhaseInput.cpp"
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"src/collision/narrowphase/NarrowPhaseInfoBatch.cpp"
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"src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp"
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"src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp"
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"src/collision/shapes/AABB.cpp"
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"src/collision/shapes/ConvexShape.cpp"
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"src/collision/shapes/ConvexPolyhedronShape.cpp"
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@ -254,7 +254,7 @@ bool CollisionDetection::testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseI
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// get the narrow-phase batches to test for collision
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SphereVsSphereNarrowPhaseInfoBatch& sphereVsSphereBatch = narrowPhaseInput.getSphereVsSphereBatch();
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NarrowPhaseInfoBatch& sphereVsCapsuleBatch = narrowPhaseInput.getSphereVsCapsuleBatch();
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NarrowPhaseInfoBatch& capsuleVsCapsuleBatch = narrowPhaseInput.getCapsuleVsCapsuleBatch();
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CapsuleVsCapsuleNarrowPhaseInfoBatch& capsuleVsCapsuleBatch = narrowPhaseInput.getCapsuleVsCapsuleBatch();
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NarrowPhaseInfoBatch& sphereVsConvexPolyhedronBatch = narrowPhaseInput.getSphereVsConvexPolyhedronBatch();
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NarrowPhaseInfoBatch& capsuleVsConvexPolyhedronBatch = narrowPhaseInput.getCapsuleVsConvexPolyhedronBatch();
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NarrowPhaseInfoBatch& convexPolyhedronVsConvexPolyhedronBatch = narrowPhaseInput.getConvexPolyhedronVsConvexPolyhedronBatch();
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@ -26,7 +26,7 @@
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// Libraries
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#include "CapsuleVsCapsuleAlgorithm.h"
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#include "collision/shapes/CapsuleShape.h"
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#include "collision/narrowphase/NarrowPhaseInfoBatch.h"
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#include "collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h"
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// We want to use the ReactPhysics3D namespace
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using namespace reactphysics3d;
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@ -34,7 +34,7 @@ using namespace reactphysics3d;
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// Compute the narrow-phase collision detection between two capsules
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// This technique is based on the "Robust Contact Creation for Physics Simulations" presentation
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// by Dirk Gregorius.
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bool CapsuleVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems,
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bool CapsuleVsCapsuleAlgorithm::testCollision(CapsuleVsCapsuleNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems,
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bool reportContacts, bool stopFirstContactFound, MemoryAllocator& memoryAllocator) {
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bool isCollisionFound = false;
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@ -44,33 +44,31 @@ bool CapsuleVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseI
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assert(narrowPhaseInfoBatch.contactPoints[batchIndex].size() == 0);
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assert(!narrowPhaseInfoBatch.isColliding[batchIndex]);
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assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::CAPSULE);
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assert(narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::CAPSULE);
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// Get the capsule collision shapes
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const CapsuleShape* capsuleShape1 = static_cast<const CapsuleShape*>(narrowPhaseInfoBatch.collisionShapes1[batchIndex]);
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const CapsuleShape* capsuleShape2 = static_cast<const CapsuleShape*>(narrowPhaseInfoBatch.collisionShapes2[batchIndex]);
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// Get the transform from capsule 1 local-space to capsule 2 local-space
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const Transform capsule1ToCapsule2SpaceTransform = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex].getInverse() *
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narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex];
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// Compute the end-points of the inner segment of the first capsule
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Vector3 capsule1SegA(0, -capsuleShape1->getHeight() * decimal(0.5), 0);
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Vector3 capsule1SegB(0, capsuleShape1->getHeight() * decimal(0.5), 0);
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const decimal capsule1HalfHeight = narrowPhaseInfoBatch.capsule1Heights[batchIndex] * decimal(0.5);
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Vector3 capsule1SegA(0, -capsule1HalfHeight, 0);
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Vector3 capsule1SegB(0, capsule1HalfHeight, 0);
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capsule1SegA = capsule1ToCapsule2SpaceTransform * capsule1SegA;
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capsule1SegB = capsule1ToCapsule2SpaceTransform * capsule1SegB;
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// Compute the end-points of the inner segment of the second capsule
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const Vector3 capsule2SegA(0, -capsuleShape2->getHeight() * decimal(0.5), 0);
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const Vector3 capsule2SegB(0, capsuleShape2->getHeight() * decimal(0.5), 0);
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const decimal capsule2HalfHeight = narrowPhaseInfoBatch.capsule2Heights[batchIndex] * decimal(0.5);
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const Vector3 capsule2SegA(0, -capsule2HalfHeight, 0);
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const Vector3 capsule2SegB(0, capsule2HalfHeight, 0);
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// The two inner capsule segments
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const Vector3 seg1 = capsule1SegB - capsule1SegA;
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const Vector3 seg2 = capsule2SegB - capsule2SegA;
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// Compute the sum of the radius of the two capsules (virtual spheres)
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decimal sumRadius = capsuleShape2->getRadius() + capsuleShape1->getRadius();
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const decimal capsule1Radius = narrowPhaseInfoBatch.capsule1Radiuses[batchIndex];
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const decimal capsule2Radius = narrowPhaseInfoBatch.capsule2Radiuses[batchIndex];
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const decimal sumRadius = capsule1Radius + capsule2Radius;
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// If the two capsules are parallel (we create two contact points)
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bool areCapsuleInnerSegmentsParralel = areParallelVectors(seg1, seg2);
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@ -140,10 +138,10 @@ bool CapsuleVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseI
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}
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Transform capsule2ToCapsule1SpaceTransform = capsule1ToCapsule2SpaceTransform.getInverse();
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const Vector3 contactPointACapsule1Local = capsule2ToCapsule1SpaceTransform * (clipPointA - segment1ToSegment2 + normalCapsule2SpaceNormalized * capsuleShape1->getRadius());
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const Vector3 contactPointBCapsule1Local = capsule2ToCapsule1SpaceTransform * (clipPointB - segment1ToSegment2 + normalCapsule2SpaceNormalized * capsuleShape1->getRadius());
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const Vector3 contactPointACapsule2Local = clipPointA - normalCapsule2SpaceNormalized * capsuleShape2->getRadius();
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const Vector3 contactPointBCapsule2Local = clipPointB - normalCapsule2SpaceNormalized * capsuleShape2->getRadius();
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const Vector3 contactPointACapsule1Local = capsule2ToCapsule1SpaceTransform * (clipPointA - segment1ToSegment2 + normalCapsule2SpaceNormalized * capsule1Radius);
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const Vector3 contactPointBCapsule1Local = capsule2ToCapsule1SpaceTransform * (clipPointB - segment1ToSegment2 + normalCapsule2SpaceNormalized * capsule1Radius);
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const Vector3 contactPointACapsule2Local = clipPointA - normalCapsule2SpaceNormalized * capsule2Radius;
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const Vector3 contactPointBCapsule2Local = clipPointB - normalCapsule2SpaceNormalized * capsule2Radius;
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decimal penetrationDepth = sumRadius - segmentsPerpendicularDistance;
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@ -184,8 +182,8 @@ bool CapsuleVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseI
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decimal closestPointsDistance = std::sqrt(closestPointsDistanceSquare);
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closestPointsSeg1ToSeg2 /= closestPointsDistance;
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const Vector3 contactPointCapsule1Local = capsule1ToCapsule2SpaceTransform.getInverse() * (closestPointCapsule1Seg + closestPointsSeg1ToSeg2 * capsuleShape1->getRadius());
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const Vector3 contactPointCapsule2Local = closestPointCapsule2Seg - closestPointsSeg1ToSeg2 * capsuleShape2->getRadius();
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const Vector3 contactPointCapsule1Local = capsule1ToCapsule2SpaceTransform.getInverse() * (closestPointCapsule1Seg + closestPointsSeg1ToSeg2 * capsule1Radius);
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const Vector3 contactPointCapsule2Local = closestPointCapsule2Seg - closestPointsSeg1ToSeg2 * capsule2Radius;
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const Vector3 normalWorld = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex].getOrientation() * closestPointsSeg1ToSeg2;
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@ -207,8 +205,8 @@ bool CapsuleVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseI
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Vector3 normalCapsuleSpace2 = (closestPointCapsule2Seg - capsule1SegmentMostExtremePoint);
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normalCapsuleSpace2.normalize();
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const Vector3 contactPointCapsule1Local = capsule1ToCapsule2SpaceTransform.getInverse() * (closestPointCapsule1Seg + normalCapsuleSpace2 * capsuleShape1->getRadius());
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const Vector3 contactPointCapsule2Local = closestPointCapsule2Seg - normalCapsuleSpace2 * capsuleShape2->getRadius();
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const Vector3 contactPointCapsule1Local = capsule1ToCapsule2SpaceTransform.getInverse() * (closestPointCapsule1Seg + normalCapsuleSpace2 * capsule1Radius);
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const Vector3 contactPointCapsule2Local = closestPointCapsule2Seg - normalCapsuleSpace2 * capsule2Radius;
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const Vector3 normalWorld = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex].getOrientation() * normalCapsuleSpace2;
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@ -223,8 +221,8 @@ bool CapsuleVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseI
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normalCapsuleSpace2.normalize();
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// Compute the contact points on both shapes
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const Vector3 contactPointCapsule1Local = capsule1ToCapsule2SpaceTransform.getInverse() * (closestPointCapsule1Seg + normalCapsuleSpace2 * capsuleShape1->getRadius());
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const Vector3 contactPointCapsule2Local = closestPointCapsule2Seg - normalCapsuleSpace2 * capsuleShape2->getRadius();
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const Vector3 contactPointCapsule1Local = capsule1ToCapsule2SpaceTransform.getInverse() * (closestPointCapsule1Seg + normalCapsuleSpace2 * capsule1Radius);
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const Vector3 contactPointCapsule2Local = closestPointCapsule2Seg - normalCapsuleSpace2 * capsule2Radius;
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const Vector3 normalWorld = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex].getOrientation() * normalCapsuleSpace2;
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@ -34,7 +34,7 @@
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namespace reactphysics3d {
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// Declarations
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struct NarrowPhaseInfoBatch;
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struct CapsuleVsCapsuleNarrowPhaseInfoBatch;
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class Body;
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class ContactPoint;
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@ -67,7 +67,7 @@ class CapsuleVsCapsuleAlgorithm : public NarrowPhaseAlgorithm {
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CapsuleVsCapsuleAlgorithm& operator=(const CapsuleVsCapsuleAlgorithm& algorithm) = delete;
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/// Compute the narrow-phase collision detection between two capsules
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bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex,
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bool testCollision(CapsuleVsCapsuleNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex,
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uint batchNbItems, bool reportContacts, bool stopFirstContactFound,
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MemoryAllocator& memoryAllocator);
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};
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@ -0,0 +1,89 @@
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/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2018 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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// Libraries
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#include "CapsuleVsCapsuleNarrowPhaseInfoBatch.h"
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#include "collision/shapes/CapsuleShape.h"
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using namespace reactphysics3d;
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// Constructor
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CapsuleVsCapsuleNarrowPhaseInfoBatch::CapsuleVsCapsuleNarrowPhaseInfoBatch(MemoryAllocator& allocator)
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: NarrowPhaseInfoBatch(allocator), capsule1Radiuses(allocator), capsule2Radiuses(allocator),
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capsule1Heights(allocator), capsule2Heights(allocator) {
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}
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// Add shapes to be tested during narrow-phase collision detection into the batch
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void CapsuleVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1, CollisionShape* shape2,
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const Transform& shape1Transform, const Transform& shape2Transform) {
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assert(shape1->getType() == CollisionShapeType::CAPSULE);
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assert(shape2->getType() == CollisionShapeType::CAPSULE);
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const CapsuleShape* capsule1 = static_cast<const CapsuleShape*>(shape1);
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const CapsuleShape* capsule2 = static_cast<const CapsuleShape*>(shape2);
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capsule1Radiuses.add(capsule1->getRadius());
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capsule2Radiuses.add(capsule2->getRadius());
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capsule1Heights.add(capsule1->getHeight());
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capsule2Heights.add(capsule2->getHeight());
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shape1ToWorldTransforms.add(shape1Transform);
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shape2ToWorldTransforms.add(shape2Transform);
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overlappingPairs.add(pair);
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contactPoints.add(List<ContactPointInfo*>(mMemoryAllocator));
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isColliding.add(false);
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// Add a collision info for the two collision shapes into the overlapping pair (if not present yet)
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LastFrameCollisionInfo* lastFrameInfo = pair->addLastFrameInfoIfNecessary(shape1->getId(), shape2->getId());
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lastFrameCollisionInfos.add(lastFrameInfo);
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}
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// Initialize the containers using cached capacity
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void CapsuleVsCapsuleNarrowPhaseInfoBatch::reserveMemory() {
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NarrowPhaseInfoBatch::reserveMemory();
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capsule1Radiuses.reserve(mCachedCapacity);
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capsule2Radiuses.reserve(mCachedCapacity);
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capsule1Heights.reserve(mCachedCapacity);
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capsule2Heights.reserve(mCachedCapacity);
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}
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// Clear all the objects in the batch
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void CapsuleVsCapsuleNarrowPhaseInfoBatch::clear() {
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NarrowPhaseInfoBatch::clear();
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// Note that we clear the following containers and we release their allocated memory. Therefore,
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// if the memory allocator is a single frame allocator, the memory is deallocated and will be
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// allocated in the next frame at a possibly different location in memory (remember that the
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// location of the allocated memory of a single frame allocator might change between two frames)
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capsule1Radiuses.clear(true);
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capsule2Radiuses.clear(true);
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capsule1Heights.clear(true);
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capsule2Heights.clear(true);
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}
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@ -0,0 +1,78 @@
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/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2018 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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#ifndef REACTPHYSICS3D_CAPSULE_VS_CAPSULE_NARROW_PHASE_INFO_BATCH_H
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#define REACTPHYSICS3D_CAPSULE_VS_CAPSULE_NARROW_PHASE_INFO_BATCH_H
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// Libraries
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#include "collision/narrowphase/NarrowPhaseInfoBatch.h"
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/// Namespace ReactPhysics3D
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namespace reactphysics3d {
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// Struct SphereVsSphereNarrowPhaseInfoBatch
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/**
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* This structure collects all the potential collisions from the middle-phase algorithm
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* that have to be tested during narrow-phase collision detection. This class collects all the
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* sphere vs sphere collision detection tests.
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*/
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struct CapsuleVsCapsuleNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch {
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public:
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/// List of radiuses for the first capsules
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List<decimal> capsule1Radiuses;
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/// List of radiuses for the second capsules
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List<decimal> capsule2Radiuses;
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/// List of heights for the first capsules
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List<decimal> capsule1Heights;
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/// List of heights for the second capsules
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List<decimal> capsule2Heights;
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/// Constructor
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CapsuleVsCapsuleNarrowPhaseInfoBatch(MemoryAllocator& allocator);
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/// Destructor
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virtual ~CapsuleVsCapsuleNarrowPhaseInfoBatch() = default;
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/// Add shapes to be tested during narrow-phase collision detection into the batch
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virtual void addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1,
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CollisionShape* shape2, const Transform& shape1Transform,
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const Transform& shape2Transform);
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// Initialize the containers using cached capacity
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void reserveMemory();
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/// Clear all the objects in the batch
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virtual void clear();
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};
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}
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#endif
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@ -50,7 +50,7 @@ void NarrowPhaseInput::addNarrowPhaseTest(OverlappingPair* pair, CollisionShape*
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mSphereVsCapsuleBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator);
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break;
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case NarrowPhaseAlgorithmType::CapsuleVsCapsule:
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mCapsuleVsCapsuleBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator);
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mCapsuleVsCapsuleBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform);
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break;
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case NarrowPhaseAlgorithmType::SphereVsConvexPolyhedron:
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mSphereVsConvexPolyhedronBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator);
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@ -30,6 +30,7 @@
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#include "containers/List.h"
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#include "collision/narrowphase/NarrowPhaseInfoBatch.h"
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#include "collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h"
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#include "collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h"
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/// Namespace ReactPhysics3D
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namespace reactphysics3d {
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@ -55,7 +56,7 @@ class NarrowPhaseInput {
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SphereVsSphereNarrowPhaseInfoBatch mSphereVsSphereBatch;
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NarrowPhaseInfoBatch mSphereVsCapsuleBatch;
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NarrowPhaseInfoBatch mCapsuleVsCapsuleBatch;
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CapsuleVsCapsuleNarrowPhaseInfoBatch mCapsuleVsCapsuleBatch;
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NarrowPhaseInfoBatch mSphereVsConvexPolyhedronBatch;
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NarrowPhaseInfoBatch mCapsuleVsConvexPolyhedronBatch;
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NarrowPhaseInfoBatch mConvexPolyhedronVsConvexPolyhedronBatch;
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@ -77,7 +78,7 @@ class NarrowPhaseInput {
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NarrowPhaseInfoBatch& getSphereVsCapsuleBatch();
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/// Get a reference to the capsule vs capsule batch
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||||
NarrowPhaseInfoBatch& getCapsuleVsCapsuleBatch();
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CapsuleVsCapsuleNarrowPhaseInfoBatch& getCapsuleVsCapsuleBatch();
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||||
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/// Get a reference to the sphere vs convex polyhedron batch
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NarrowPhaseInfoBatch& getSphereVsConvexPolyhedronBatch();
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@ -107,7 +108,7 @@ inline NarrowPhaseInfoBatch& NarrowPhaseInput::getSphereVsCapsuleBatch() {
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}
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// Get a reference to the capsule vs capsule batch
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inline NarrowPhaseInfoBatch& NarrowPhaseInput::getCapsuleVsCapsuleBatch() {
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inline CapsuleVsCapsuleNarrowPhaseInfoBatch& NarrowPhaseInput::getCapsuleVsCapsuleBatch() {
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||||
return mCapsuleVsCapsuleBatch;
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}
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||||
|
|
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|||
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@ -43,8 +43,8 @@ bool SphereVsSphereAlgorithm::testCollision(SphereVsSphereNarrowPhaseInfoBatch&
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|||
assert(!narrowPhaseInfoBatch.isColliding[batchIndex]);
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||||
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||||
// Get the local-space to world-space transforms
|
||||
const Transform& transform1 = narrowPhaseInfoBatch.sphere1WorldTransforms[batchIndex];
|
||||
const Transform& transform2 = narrowPhaseInfoBatch.sphere2WorldTransforms[batchIndex];
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||||
const Transform& transform1 = narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex];
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||||
const Transform& transform2 = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex];
|
||||
|
||||
// Compute the distance between the centers
|
||||
Vector3 vectorBetweenCenters = transform2.getPosition() - transform1.getPosition();
|
||||
|
|
@ -61,8 +61,8 @@ bool SphereVsSphereAlgorithm::testCollision(SphereVsSphereNarrowPhaseInfoBatch&
|
|||
|
||||
if (reportContacts) {
|
||||
|
||||
Transform transform1Inverse = narrowPhaseInfoBatch.sphere1WorldTransforms[batchIndex].getInverse();
|
||||
Transform transform2Inverse = narrowPhaseInfoBatch.sphere2WorldTransforms[batchIndex].getInverse();
|
||||
Transform transform1Inverse = transform1.getInverse();
|
||||
Transform transform2Inverse = transform2.getInverse();
|
||||
|
||||
decimal penetrationDepth = sumRadiuses - std::sqrt(squaredDistanceBetweenCenters);
|
||||
Vector3 intersectionOnBody1;
|
||||
|
|
@ -72,8 +72,8 @@ bool SphereVsSphereAlgorithm::testCollision(SphereVsSphereNarrowPhaseInfoBatch&
|
|||
// If the two sphere centers are not at the same position
|
||||
if (squaredDistanceBetweenCenters > MACHINE_EPSILON) {
|
||||
|
||||
Vector3 centerSphere2InBody1LocalSpace = transform1Inverse * narrowPhaseInfoBatch.sphere1WorldTransforms[batchIndex].getPosition();
|
||||
Vector3 centerSphere1InBody2LocalSpace = transform2Inverse * narrowPhaseInfoBatch.sphere2WorldTransforms[batchIndex].getPosition();
|
||||
Vector3 centerSphere2InBody1LocalSpace = transform1Inverse * transform2.getPosition();
|
||||
Vector3 centerSphere1InBody2LocalSpace = transform2Inverse * transform1.getPosition();
|
||||
|
||||
intersectionOnBody1 = narrowPhaseInfoBatch.sphere1Radiuses[batchIndex] * centerSphere2InBody1LocalSpace.getUnit();
|
||||
intersectionOnBody2 = narrowPhaseInfoBatch.sphere2Radiuses[batchIndex] * centerSphere1InBody2LocalSpace.getUnit();
|
||||
|
|
|
|||
|
|
@ -31,8 +31,7 @@ using namespace reactphysics3d;
|
|||
|
||||
// Constructor
|
||||
SphereVsSphereNarrowPhaseInfoBatch::SphereVsSphereNarrowPhaseInfoBatch(MemoryAllocator& allocator)
|
||||
: NarrowPhaseInfoBatch(allocator), sphere1Radiuses(allocator), sphere2Radiuses(allocator),
|
||||
sphere1WorldTransforms(allocator), sphere2WorldTransforms(allocator) {
|
||||
: NarrowPhaseInfoBatch(allocator), sphere1Radiuses(allocator), sphere2Radiuses(allocator) {
|
||||
|
||||
}
|
||||
|
||||
|
|
@ -48,8 +47,8 @@ void SphereVsSphereNarrowPhaseInfoBatch::addNarrowPhaseInfo(OverlappingPair* pai
|
|||
|
||||
sphere1Radiuses.add(sphere1->getRadius());
|
||||
sphere2Radiuses.add(sphere2->getRadius());
|
||||
sphere1WorldTransforms.add(shape1Transform);
|
||||
sphere2WorldTransforms.add(shape2Transform);
|
||||
shape1ToWorldTransforms.add(shape1Transform);
|
||||
shape2ToWorldTransforms.add(shape2Transform);
|
||||
overlappingPairs.add(pair);
|
||||
contactPoints.add(List<ContactPointInfo*>(mMemoryAllocator));
|
||||
isColliding.add(false);
|
||||
|
|
@ -66,8 +65,6 @@ void SphereVsSphereNarrowPhaseInfoBatch::reserveMemory() {
|
|||
|
||||
sphere1Radiuses.reserve(mCachedCapacity);
|
||||
sphere2Radiuses.reserve(mCachedCapacity);
|
||||
sphere1WorldTransforms.reserve(mCachedCapacity);
|
||||
sphere2WorldTransforms.reserve(mCachedCapacity);
|
||||
}
|
||||
|
||||
// Clear all the objects in the batch
|
||||
|
|
@ -82,7 +79,5 @@ void SphereVsSphereNarrowPhaseInfoBatch::clear() {
|
|||
|
||||
sphere1Radiuses.clear(true);
|
||||
sphere2Radiuses.clear(true);
|
||||
sphere1WorldTransforms.clear(true);
|
||||
sphere2WorldTransforms.clear(true);
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -48,12 +48,6 @@ struct SphereVsSphereNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch {
|
|||
/// List of radiuses for the second spheres
|
||||
List<decimal> sphere2Radiuses;
|
||||
|
||||
/// List of the world-space positions for the center of the first spheres
|
||||
List<Transform> sphere1WorldTransforms;
|
||||
|
||||
/// List of the world-space positions for the center of the second spheres
|
||||
List<Transform> sphere2WorldTransforms;
|
||||
|
||||
/// Constructor
|
||||
SphereVsSphereNarrowPhaseInfoBatch(MemoryAllocator& allocator);
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user