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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@242 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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chappuis.daniel 2009-12-27 19:06:47 +00:00
parent f7a88eb379
commit 3bfccf351e
1 changed files with 18 additions and 1 deletions
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19
sources/reactphysics3d/collision/NarrowPhaseSATAlgorithm.cpp
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@ -504,7 +504,24 @@ void NarrowPhaseSATAlgorithm::computeContact(const OBB* const obb1, const OBB* c
*contact = new Contact(obb1->getBodyPointer(), obb2->getBodyPointer(), normal, obb2ExtremePoints);
}
else if (nbVerticesExtremeOBB1 == 2 && nbVerticesExtremeOBB2 == 2) { // If it's an edge-edge contact
// TODO : Complete this ...
// Compute the two vectors of the segment lines
Vector3D d1 = obb1ExtremePoints[1] - obb1ExtremePoints[0];
Vector3D d2 = obb2ExtremePoints[1] - obb2ExtremePoints[0];
double alpha, beta;
// Compute the closest two points between the two line segments
closestPointsBetweenTwoLines(obb1ExtremePoints[0], d1, obb2ExtremePoints[0], d2, &alpha, &beta);
Vector3D pointA = obb1ExtremePoints[0] + d1 * alpha;
Vector3D pointB = obb2ExtremePoints[0] + d2 * beta;
// Compute the contact point as halfway between the 2 closest points
Vector3D contactPoint = 0.5 * (pointA + pointB);
std::vector<Vector3D> contactSet;
contactSet.push_back(contactPoint);
// Create a new contact
*contact = new Contact(obb1->getBodyPointer(), obb2->getBodyPointer(), normal, contactSet);
}
else if(nbVerticesExtremeOBB1 == 2 && nbVerticesExtremeOBB2 == 4) { // If it's an edge-face contact
// TODO : Complete this ...