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Fix issue in SAT algorithm, use the correct penetration depth for each contact point

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This commit is contained in:
Daniel Chappuis 2017-11-13 18:42:39 +01:00
parent e9709c3db5
commit 38bd462b91
1 changed files with 7 additions and 3 deletions
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10
src/collision/narrowphase/SAT/SATAlgorithm.cpp
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@ -871,8 +871,12 @@ bool SATAlgorithm::computePolyhedronVsPolyhedronFaceContactPoints(bool isMinPene
bool contactPointsFound = false; bool contactPointsFound = false;
for (itPoints = clipPolygonVertices.begin(); itPoints != clipPolygonVertices.end(); ++itPoints) { for (itPoints = clipPolygonVertices.begin(); itPoints != clipPolygonVertices.end(); ++itPoints) {
// Compute the penetration depth of this contact point (can be different from the minPenetration depth which is
// the maximal penetration depth of any contact point for this separating axis
decimal penetrationDepth = (referenceFaceVertex - (*itPoints)).dot(axisReferenceSpace);
// If the clip point is bellow the reference face // If the clip point is bellow the reference face
if (((*itPoints) - referenceFaceVertex).dot(axisReferenceSpace) < decimal(0.0)) { if (penetrationDepth > decimal(0.0)) {
contactPointsFound = true; contactPointsFound = true;
@ -889,10 +893,10 @@ bool SATAlgorithm::computePolyhedronVsPolyhedronFaceContactPoints(bool isMinPene
isMinPenetrationFaceNormalPolyhedron1 ? contactPointReferencePolyhedron : contactPointIncidentPolyhedron, isMinPenetrationFaceNormalPolyhedron1 ? contactPointReferencePolyhedron : contactPointIncidentPolyhedron,
isMinPenetrationFaceNormalPolyhedron1 ? contactPointIncidentPolyhedron : contactPointReferencePolyhedron, isMinPenetrationFaceNormalPolyhedron1 ? contactPointIncidentPolyhedron : contactPointReferencePolyhedron,
narrowPhaseInfo->shape1ToWorldTransform, narrowPhaseInfo->shape2ToWorldTransform, narrowPhaseInfo->shape1ToWorldTransform, narrowPhaseInfo->shape2ToWorldTransform,
minPenetrationDepth, outWorldNormal); penetrationDepth, outWorldNormal);
// Create a new contact point // Create a new contact point
narrowPhaseInfo->addContactPoint(outWorldNormal, minPenetrationDepth, narrowPhaseInfo->addContactPoint(outWorldNormal, penetrationDepth,
isMinPenetrationFaceNormalPolyhedron1 ? contactPointReferencePolyhedron : contactPointIncidentPolyhedron, isMinPenetrationFaceNormalPolyhedron1 ? contactPointReferencePolyhedron : contactPointIncidentPolyhedron,
isMinPenetrationFaceNormalPolyhedron1 ? contactPointIncidentPolyhedron : contactPointReferencePolyhedron); isMinPenetrationFaceNormalPolyhedron1 ? contactPointIncidentPolyhedron : contactPointReferencePolyhedron);
} }