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Fix issues in surface normal computation in raycast method of ConeShape and BoxShape

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This commit is contained in:
Daniel Chappuis 2014-11-27 21:05:32 +01:00
parent 5d2cf593b5
commit 4ae7e7997a
2 changed files with 15 additions and 9 deletions
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7
src/collision/shapes/BoxShape.cpp
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@ -90,8 +90,10 @@ bool BoxShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* pro
// Compute the intersection of the ray with the near and far plane of the slab
decimal oneOverD = decimal(1.0) / rayDirection[i];
decimal t1 = (-mExtent[i] - point1[i]) * oneOverD;
decimal t2 = (mExtent[i] - point1 [i]) * oneOverD;
currentNormal = -mExtent;
decimal t2 = (mExtent[i] - point1[i]) * oneOverD;
currentNormal[0] = (i == 0) ? -mExtent[i] : decimal(0.0);
currentNormal[1] = (i == 1) ? -mExtent[i] : decimal(0.0);
currentNormal[2] = (i == 2) ? -mExtent[i] : decimal(0.0);
// Swap t1 and t2 if need so that t1 is intersection with near plane and
// t2 with far plane
@ -125,6 +127,7 @@ bool BoxShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* pro
raycastInfo.proxyShape = proxyShape;
raycastInfo.hitFraction = tMin;
raycastInfo.worldPoint = localToWorldTransform * localHitPoint;
normalDirection.normalize();
raycastInfo.worldNormal = localToWorldTransform.getOrientation() * normalDirection;
return true;

17
src/collision/shapes/ConeShape.cpp
View File

@ -215,14 +215,17 @@ bool ConeShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* pr
// Compute the normal direction for hit against side of the cone
if (hitIndex != 2) {
decimal m = std::sqrt(localHitPoint[hitIndex].x * localHitPoint[hitIndex].x +
localHitPoint[hitIndex].z * localHitPoint[hitIndex].z);
decimal h = decimal(2.0) * mHalfHeight;
decimal hOverR = h / mRadius;
decimal hOverROverM = hOverR / m;
localNormal[hitIndex].x = localHitPoint[hitIndex].x * hOverROverM;
localNormal[hitIndex].y = mRadius / h;
localNormal[hitIndex].z = localHitPoint[hitIndex].z * hOverROverM;
decimal value1 = (localHitPoint[hitIndex].x * localHitPoint[hitIndex].x +
localHitPoint[hitIndex].z * localHitPoint[hitIndex].z);
decimal rOverH = mRadius / h;
decimal value2 = decimal(1.0) + rOverH * rOverH;
decimal factor = decimal(1.0) / std::sqrt(value1 * value2);
decimal x = localHitPoint[hitIndex].x * factor;
decimal z = localHitPoint[hitIndex].z * factor;
localNormal[hitIndex].x = x;
localNormal[hitIndex].y = std::sqrt(x * x + z * z) * rOverH;
localNormal[hitIndex].z = z;
}
raycastInfo.body = proxyShape->getBody();