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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@186 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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chappuis.daniel 2009-07-31 16:13:57 +00:00
parent d7e3f0a066
commit 4ce65e9aaa
1 changed files with 24 additions and 4 deletions
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28
sources/reactphysics3d/collision/CollisionDetection.cpp
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@ -57,7 +57,9 @@ void CollisionDetection::computeCollisionContacts() {
// The method returns true if a collision occurs in the time interval [0, timeMax] // The method returns true if a collision occurs in the time interval [0, timeMax]
bool CollisionDetection::computeCollisionDetection(CollisionWorld* collisionWorld, const Time& timeMax, Time& timeFirst, Time& timeLast) { bool CollisionDetection::computeCollisionDetection(CollisionWorld* collisionWorld, const Time& timeMax, Time& timeFirst, Time& timeLast) {
bool existsCollision = false; // True if a collision is found in the time interval [0, timeMax] bool existsCollision = false; // True if a collision is found in the time interval [0, timeMax]
Time timeFirstTemp; // Temporary timeFirst value
Time timeLastTemp; // Temporary timeLast value
// For each pair of bodies in the collisionWorld // For each pair of bodies in the collisionWorld
for(std::vector<Body*>::const_iterator it1 = collisionWorld->getBodyListStartIterator(); it1 != collisionWorld->getBodyListEndIterator(); ++it1) { for(std::vector<Body*>::const_iterator it1 = collisionWorld->getBodyListStartIterator(); it1 != collisionWorld->getBodyListEndIterator(); ++it1) {
@ -79,12 +81,30 @@ bool CollisionDetection::computeCollisionDetection(CollisionWorld* collisionWorl
Vector3D velocity2 = rigidBody2->getInterpolatedState().getLinearVelocity(); Vector3D velocity2 = rigidBody2->getInterpolatedState().getLinearVelocity();
// Use the narrow-phase algorithm to check if the two bodies really collide // Use the narrow-phase algorithm to check if the two bodies really collide
if(narrowPhaseAlgorithm->testCollision(&obb1, &obb2, &contact, velocity1, velocity2, timeMax, timeFirst, timeLast)) { if(narrowPhaseAlgorithm->testCollision(&obb1, &obb2, &contact, velocity1, velocity2, timeMax, timeFirstTemp, timeLastTemp)) {
assert(contact != 0); assert(contact != 0);
existsCollision = true; existsCollision = true;
// Add the new collision contact into the collision world // Check if the collision time is the first collision between all bodies
collisionWorld->addConstraint(contact); if (timeFirstTemp < timeFirst) {
// Update the first collision time between all bodies
timeFirst.setValue(timeFirstTemp.getValue());
timeLast.setValue(timeLastTemp.getValue());
// Add the new collision contact into the collision world
collisionWorld->addConstraint(contact);
// TODO : Here we add some contacts to the collisionWorld when we
// found a new timeFirst value. But each time we found a new timeFirst
// value, the contacts that have been added before have to be deleted.
// Therefore, we have to find a way to do that. For instance, we can
// associate a contactTime value at each contact and delete all contacts
// that are no the first contact between all bodies.
}
else {
// Delete the contact
delete contact;
}
} }
} }
} }