Correction of a bug in EPA algorithm
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@425 92aac97c-a6ce-11dd-a772-7fcde58d38e6
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@ -252,20 +252,18 @@ bool EPAAlgorithm::computePenetrationDepthAndContactPoints(Simplex simplex, cons
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suppPointsA[3] = boundingVolume1->getSupportPoint(n, OBJECT_MARGIN);
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suppPointsA[3] = boundingVolume1->getSupportPoint(n, OBJECT_MARGIN);
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suppPointsB[3] = boundingVolume2->getSupportPoint(n.getOpposite(), OBJECT_MARGIN);
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suppPointsB[3] = boundingVolume2->getSupportPoint(n.getOpposite(), OBJECT_MARGIN);
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points[3] = suppPointsA[3] - suppPointsB[3];
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points[3] = suppPointsA[3] - suppPointsB[3];
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suppPointsA[4] = boundingVolume1->getSupportPoint(n.getOpposite(), OBJECT_MARGIN); // TODO : Uncomment this
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suppPointsA[4] = boundingVolume1->getSupportPoint(n.getOpposite(), OBJECT_MARGIN);
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suppPointsB[4] = boundingVolume2->getSupportPoint(n, OBJECT_MARGIN); // TODO : Uncomment this
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suppPointsB[4] = boundingVolume2->getSupportPoint(n, OBJECT_MARGIN);
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points[4] = suppPointsA[4] - suppPointsB[4]; // TODO : Uncomment this
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points[4] = suppPointsA[4] - suppPointsB[4];
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// Construct the triangle faces
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// Construct the triangle faces
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TriangleEPA* face0 = triangleStore.newTriangle(points, 0, 1, 3);
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TriangleEPA* face0 = triangleStore.newTriangle(points, 0, 1, 3);
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TriangleEPA* face1 = triangleStore.newTriangle(points, 1, 2, 3);
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TriangleEPA* face1 = triangleStore.newTriangle(points, 1, 2, 3);
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TriangleEPA* face2 = triangleStore.newTriangle(points, 2, 0, 3);
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TriangleEPA* face2 = triangleStore.newTriangle(points, 2, 0, 3);
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//TriangleEPA* face3 = triangleStore.newTriangle(points, 0, 1, 2); // TODO : Remove this
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TriangleEPA* face3 = triangleStore.newTriangle(points, 0, 2, 4);
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TriangleEPA* face3 = triangleStore.newTriangle(points, 0, 2, 4);// TODO : Uncomment this
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TriangleEPA* face4 = triangleStore.newTriangle(points, 2, 1, 4);
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TriangleEPA* face4 = triangleStore.newTriangle(points, 2, 1, 4);// TODO : Uncomment this
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TriangleEPA* face5 = triangleStore.newTriangle(points, 1, 0, 4);
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TriangleEPA* face5 = triangleStore.newTriangle(points, 1, 0, 4);// TODO : Uncomment this
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// TODO : Uncomment this
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// If the polytope hasn't been correctly constructed
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// If the polytope hasn't been correctly constructed
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if (!(face0 && face1 && face2 && face3 && face4 && face5 &&
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if (!(face0 && face1 && face2 && face3 && face4 && face5 &&
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face0->getDistSquare() > 0.0 && face1->getDistSquare() > 0.0 &&
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face0->getDistSquare() > 0.0 && face1->getDistSquare() > 0.0 &&
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@ -274,16 +272,6 @@ bool EPAAlgorithm::computePenetrationDepthAndContactPoints(Simplex simplex, cons
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return false;
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return false;
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}
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}
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// TODO : Remove this
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/*
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if (!(face0 && face1 && face2 && face3 &&
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face0->getDistSquare() > 0.0 && face1->getDistSquare() > 0.0 &&
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face2->getDistSquare() > 0.0 && face3->getDistSquare() > 0.0)) {
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return false;
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}
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*/
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// Associate the edges of neighbouring faces
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// Associate the edges of neighbouring faces
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link(EdgeEPA(face0, 1), EdgeEPA(face1, 2));
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link(EdgeEPA(face0, 1), EdgeEPA(face1, 2));
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link(EdgeEPA(face1, 1), EdgeEPA(face2, 2));
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link(EdgeEPA(face1, 1), EdgeEPA(face2, 2));
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@ -300,11 +288,10 @@ bool EPAAlgorithm::computePenetrationDepthAndContactPoints(Simplex simplex, cons
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addFaceCandidate(face1, triangleHeap, nbTriangles, DBL_MAX);
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addFaceCandidate(face1, triangleHeap, nbTriangles, DBL_MAX);
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addFaceCandidate(face2, triangleHeap, nbTriangles, DBL_MAX);
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addFaceCandidate(face2, triangleHeap, nbTriangles, DBL_MAX);
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addFaceCandidate(face3, triangleHeap, nbTriangles, DBL_MAX);
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addFaceCandidate(face3, triangleHeap, nbTriangles, DBL_MAX);
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addFaceCandidate(face4, triangleHeap, nbTriangles, DBL_MAX); // TODO : Uncomment this
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addFaceCandidate(face4, triangleHeap, nbTriangles, DBL_MAX);
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addFaceCandidate(face5, triangleHeap, nbTriangles, DBL_MAX); // TODO : Uncomment this
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addFaceCandidate(face5, triangleHeap, nbTriangles, DBL_MAX);
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nbVertices = 5; // TODO : Uncomment this
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nbVertices = 5;
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//nbVertices = 4; // TODO : Remove this
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}
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}
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break;
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break;
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}
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}
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@ -74,7 +74,6 @@ bool EdgeEPA::computeSilhouette(const Vector3D* vertices, uint index, TrianglesS
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return false;
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return false;
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}
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}
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}
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else {
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else {
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// The current triangle is visible and therefore obsolete
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// The current triangle is visible and therefore obsolete
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ownerTriangle->setIsObsolete(true);
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ownerTriangle->setIsObsolete(true);
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@ -109,6 +108,7 @@ bool EdgeEPA::computeSilhouette(const Vector3D* vertices, uint index, TrianglesS
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return false;
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return false;
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}
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}
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}
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}
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}
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return true;
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return true;
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}
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}
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@ -94,6 +94,7 @@ inline TriangleEPA* TrianglesStore::newTriangle(const Vector3D* vertices, uint v
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new (newTriangle) TriangleEPA(v0, v1, v2);
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new (newTriangle) TriangleEPA(v0, v1, v2);
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if (!newTriangle->computeClosestPoint(vertices)) {
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if (!newTriangle->computeClosestPoint(vertices)) {
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nbTriangles--;
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nbTriangles--;
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// TODO : DO WE HAVE TO add "delete newTriangle;" here ??
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newTriangle = 0;
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newTriangle = 0;
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}
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}
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}
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}
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