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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@343 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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This commit is contained in:
chappuis.daniel 2010-07-05 20:50:26 +00:00
parent 92dabf7f7f
commit 57b2448111
1 changed files with 6 additions and 3 deletions
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9
sources/reactphysics3d/collision/CollisionDetection.cpp
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@ -71,10 +71,13 @@ void CollisionDetection::computeBroadPhase() {
// For each pair of bodies in the physics world // For each pair of bodies in the physics world
for(std::vector<Body*>::const_iterator it1 = world->getBodiesBeginIterator(); it1 != world->getBodiesEndIterator(); ++it1) { for(std::vector<Body*>::const_iterator it1 = world->getBodiesBeginIterator(); it1 != world->getBodiesEndIterator(); ++it1) {
for(std::vector<Body*>::const_iterator it2 = it1; it2 != world->getBodiesEndIterator(); ++it2) { for(std::vector<Body*>::const_iterator it2 = it1; it2 != world->getBodiesEndIterator(); ++it2) {
// If both bodies are RigidBody and are different
RigidBody* rigidBody1 = dynamic_cast<RigidBody*>(*it1); RigidBody* rigidBody1 = dynamic_cast<RigidBody*>(*it1);
RigidBody* rigidBody2 = dynamic_cast<RigidBody*>(*it2); RigidBody* rigidBody2 = dynamic_cast<RigidBody*>(*it2);
if(rigidBody1 && rigidBody2 && rigidBody1 != rigidBody2) {
// If both bodies are RigidBody and are different and if both have collision activated
if(rigidBody1 && rigidBody2 && rigidBody1 != rigidBody2
&& rigidBody1->getIsCollisionEnabled() && rigidBody2->getIsCollisionEnabled()) {
// Get the oriented bounding boxes of the two bodies // Get the oriented bounding boxes of the two bodies
const OBB* obb1 = rigidBody1->getOBB(); const OBB* obb1 = rigidBody1->getOBB();
const OBB* obb2 = rigidBody2->getOBB(); const OBB* obb2 = rigidBody2->getOBB();
@ -202,7 +205,7 @@ void CollisionDetection::computeContact(const ContactInfo* const contactInfo) {
else if(nbVerticesExtremeOBB1 == 4 && nbVerticesExtremeOBB2 == 2) { // If it's an edge-face contact else if(nbVerticesExtremeOBB1 == 4 && nbVerticesExtremeOBB2 == 2) { // If it's an edge-face contact
// Compute the projection of the edge of OBB2 onto the same plane of the face of OBB1 // Compute the projection of the edge of OBB2 onto the same plane of the face of OBB1
std::vector<Vector3D> edge = projectPointsOntoPlane(obb2ExtremePoints, obb1ExtremePoints[0], normal); std::vector<Vector3D> edge = projectPointsOntoPlane(obb2ExtremePoints, obb1ExtremePoints[0], normal);
// Clip the edge of OBB2 using the face of OBB1 // Clip the edge of OBB2 using the face of OBB1
std::vector<Vector3D> clippedEdge = clipSegmentWithRectangleInPlane(edge, obb1ExtremePoints); std::vector<Vector3D> clippedEdge = clipSegmentWithRectangleInPlane(edge, obb1ExtremePoints);