mrq/reactphysics3d
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@247 92aac97c-a6ce-11dd-a772-7fcde58d38e6

Browse Source
This commit is contained in:
chappuis.daniel 2010-01-05 20:50:26 +00:00
parent fb416001ad
commit 3fc211f954
1 changed files with 6 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
sources/reactphysics3d/collision/NarrowPhaseSATAlgorithm.cpp
View File

@ -509,6 +509,7 @@ void NarrowPhaseSATAlgorithm::computeContact(const OBB* const obb1, const OBB* c
Vector3D d2 = obb2ExtremePoints[1] - obb2ExtremePoints[0];
double alpha, beta;
std::vector<Vector3D> contactSet;
// If the two edges are parallel
if (d1.isParallelWith(d2)) {
@ -519,8 +520,9 @@ void NarrowPhaseSATAlgorithm::computeContact(const OBB* const obb1, const OBB* c
computeParallelSegmentsIntersection(obb1ExtremePoints[0], obb1ExtremePoints[1], obb2ExtremePoints[0], obb2ExtremePoints[1],
contactPointA, contactPointB);
// Add the two contact points in the contact set
contactSet.push_back(contactPointA);
contactSet.push_back(contactPointB);
}
else { // If the two edges are not parallel
// Compute the closest two points between the two line segments
@ -530,7 +532,8 @@ void NarrowPhaseSATAlgorithm::computeContact(const OBB* const obb1, const OBB* c
// Compute the contact point as halfway between the 2 closest points
Vector3D contactPoint = 0.5 * (pointA + pointB);
std::vector<Vector3D> contactSet;
// Add the contact point into the contact set
contactSet.push_back(contactPoint);
}