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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@233 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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This commit is contained in:
chappuis.daniel 2009-12-23 10:06:34 +00:00
parent 902f3ab2b4
commit 325c80dd49
2 changed files with 7 additions and 5 deletions
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11
sources/reactphysics3d/collision/NarrowPhaseSATAlgorithm.cpp
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@ -36,6 +36,8 @@
// We want to use the ReactPhysics3D namespace // We want to use the ReactPhysics3D namespace
using namespace reactphysics3d; using namespace reactphysics3d;
// TODO : Remove all the std::cout
// TODO : Check and modify all comments on this file in order that // TODO : Check and modify all comments on this file in order that
//  everything have to do with the new SAT algorithm //  everything have to do with the new SAT algorithm
@ -279,10 +281,10 @@ bool NarrowPhaseSATAlgorithm::computeCollisionTest(const OBB* const obb1, const
//std::cout << "Current -- 1 -- MIN Points : " << currentInterval1.getMinProjectedPoints().size() << " MAX : " << currentInterval1.getMaxProjectedPoints().size() << std::endl; //std::cout << "Current -- 1 -- MIN Points : " << currentInterval1.getMinProjectedPoints().size() << " MAX : " << currentInterval1.getMaxProjectedPoints().size() << std::endl;
//std::cout << "Current -- 1 -- min : " << currentInterval1.getMin() << std::endl; //std::cout << "Current -- 1 -- min : " << currentInterval1.getMin() << std::endl;
//std::cout << "Timefirst : " << timeFirst.getValue() << std::endl; //std::cout << "Timefirst : " << timeFirst.getValue() << std::endl;
std::cout << "CONTACT FOUND AND TIMEFIRST IS " << timeFirst.getValue() << std::endl; std::cout << "CONTACT FOUND " << std::endl;
// TODO : The normal has to be unit before passing it to the computeContact() method // Compute the collision contact
computeContact(currentInterval1, currentInterval2, velocity1, velocity2, timeFirst, side, contact); computeContact(obb1, obb2, normal.getUnit(), minPenetrationDepth, obb1->getExtremeVertices(normal), obb2->getExtremeVertices(normal.getOpposite()), contact)
//std::cout << "Contact 1 : " << contact << std::endl; //std::cout << "Contact 1 : " << contact << std::endl;
assert(*contact != 0); assert(*contact != 0);
@ -457,8 +459,7 @@ bool NarrowPhaseSATAlgorithm::computeCollisionTest(const OBB* const obb1, const
std::cout << "CONTACT FOUND AND TIMEFIRST IS " << timeFirst.getValue() << std::endl; std::cout << "CONTACT FOUND AND TIMEFIRST IS " << timeFirst.getValue() << std::endl;
// Compute the collision contact // Compute the collision contact
// TODO : The normal has to be unit before passing it to the computeContact() method computeContact(obb1, obb2, normal.getUnit(), minPenetrationDepth, obb1->getExtremeVertices(normal), obb2->getExtremeVertices(normal.getOpposite()), contact)
computeContact(obb1, obb2, normal.getUnit(), minPenetrationDepth, obb1->getExtremeVertices(normal), obb2->getExtremeVertices(normal.getOpposite()), Contact** contact)
// We have found no separation axis, therefore the two OBBs must collide // We have found no separation axis, therefore the two OBBs must collide
assert(*contact != 0); assert(*contact != 0);

1
sources/reactphysics3d/collision/NarrowPhaseSATAlgorithm.h
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@ -49,6 +49,7 @@ class NarrowPhaseSATAlgorithm : public NarrowPhaseAlgorithm {
void computeContact(const OBB* const obb1, const OBB* const obb2, const Vector3D normal, double penetrationDepth, void computeContact(const OBB* const obb1, const OBB* const obb2, const Vector3D normal, double penetrationDepth,
const std::vector<Vector3D>& obb1ExtremePoints, const std::vector<Vector3D>& obb2ExtremePoints, Contact** contact) const; // Compute a new contact // Compute a new collision contact between two projection intervals const std::vector<Vector3D>& obb1ExtremePoints, const std::vector<Vector3D>& obb2ExtremePoints, Contact** contact) const; // Compute a new contact // Compute a new collision contact between two projection intervals
Vector3D computeContactNormal(const Vector3D& axis, const Vector3D& distanceOfOBBs) const; // Compute a contact normal Vector3D computeContactNormal(const Vector3D& axis, const Vector3D& distanceOfOBBs) const; // Compute a contact normal
public : public :
NarrowPhaseSATAlgorithm(); // Constructor NarrowPhaseSATAlgorithm(); // Constructor
~NarrowPhaseSATAlgorithm(); // Destructor ~NarrowPhaseSATAlgorithm(); // Destructor