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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@244 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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This commit is contained in:
chappuis.daniel 2010-01-02 23:54:09 +00:00
parent 2eed419939
commit 4185b2bbee
1 changed files with 25 additions and 11 deletions
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36
sources/reactphysics3d/collision/NarrowPhaseSATAlgorithm.cpp
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@ -497,11 +497,11 @@ void NarrowPhaseSATAlgorithm::computeContact(const OBB* const obb1, const OBB* c
// If it's a Vertex-Something contact
if (nbVerticesExtremeOBB1 == 1) {
// Create a new contact
*contact = new Contact(obb1->getBodyPointer(), obb2->getBodyPointer(), normal, obb1ExtremePoints);
*contact = new Contact(obb1->getBodyPointer(), obb2->getBodyPointer(), normal, penetrationDepth, obb1ExtremePoints);
}
else if(nbVerticesExtremeOBB2 == 1) { // If its a Vertex-Something contact
// Create a new contact
*contact = new Contact(obb1->getBodyPointer(), obb2->getBodyPointer(), normal, obb2ExtremePoints);
*contact = new Contact(obb1->getBodyPointer(), obb2->getBodyPointer(), normal, penetrationDepth, obb2ExtremePoints);
}
else if (nbVerticesExtremeOBB1 == 2 && nbVerticesExtremeOBB2 == 2) { // If it's an edge-edge contact
// Compute the two vectors of the segment lines
@ -510,18 +510,32 @@ void NarrowPhaseSATAlgorithm::computeContact(const OBB* const obb1, const OBB* c
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;
// If the two edges are parallel
if (d1.isParallelWith(d2)) {
Vector3D contactPointA;
Vector3D contactPointB;
// 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);
// Compute the intersection between the two edges
computeParallelSegmentsIntersection(obb1ExtremePoints[0], obb1ExtremePoints[1], obb2ExtremePoints[0], obb2ExtremePoints[1],
contactPointA, contactPointB);
}
else { // If the two edges are not parallel
// 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);
*contact = new Contact(obb1->getBodyPointer(), obb2->getBodyPointer(), normal, penetrationDepth, contactSet);
}
else if(nbVerticesExtremeOBB1 == 2 && nbVerticesExtremeOBB2 == 4) { // If it's an edge-face contact
// TODO : Complete this ...