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implementation of GJK and EPA collision detection algorithm continued

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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@422 92aac97c-a6ce-11dd-a772-7fcde58d38e6
This commit is contained in:
chappuis.daniel 2011-02-19 10:19:59 +00:00
parent 08ccec586a
commit 6a6f55b763
4 changed files with 12 additions and 10 deletions
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1
src/collision/EPA/EdgeEPA.cpp
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@ -81,7 +81,6 @@ void EdgeEPA::halfLink(EdgeEPA edge) {
this->getOwnerTriangle()->setAdjacentEdge(index, edge);
}
// Compute the silhouette
bool EdgeEPA::computeSilhouette(const Vector3D* vertices, uint index, TrianglesStore triangleStore) {
// If the edge has not already been visited

3
src/collision/GJK/GJKAlgorithm.cpp
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@ -204,6 +204,9 @@ bool GJKAlgorithm::testCollision(const NarrowBoundingVolume* const boundingVolum
// There is an intersection, therefore we return true
return true;
}
double test = simplex.getMaxLengthSquareOfAPoint(); // TODO : Remove this
test = 4.5;
} while(!simplex.isFull() && distSquare > MACHINE_EPSILON * simplex.getMaxLengthSquareOfAPoint());

16
src/collision/GJK/Simplex.cpp
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@ -312,11 +312,11 @@ bool Simplex::computeClosestPoint(Vector3D& v) {
}
}
// If the simplex that contains only the last added point is valid for the
// Johnson's algorithm test
// If the simplex that contains only the last added point is valid for the Johnson's algorithm test
if (isValidSubset(lastFoundBit)) {
bitsCurrentSimplex = lastFoundBit; // Set the current simplex to the set that contains only the last added point
v = points[lastFound]; // The closest point of the simplex "v" is the last added point
bitsCurrentSimplex = lastFoundBit; // Set the current simplex to the set that contains only the last added point
maxLengthSquare = pointsLengthSquare[lastFound]; // Update the maximum square length
v = points[lastFound]; // The closest point of the simplex "v" is the last added point
return true;
}
@ -344,9 +344,9 @@ void Simplex::backupClosestPointInSimplex(Vector3D& v) {
// Return the closest point "v" in the convex hull of the points in the subset
// represented by the bits "subset"
Vector3D Simplex::computeClosestPointForSubset(Bits subset) const {
Vector3D Simplex::computeClosestPointForSubset(Bits subset) {
Vector3D v(0.0, 0.0, 0.0); // Closet point v = sum(lambda_i * points[i])
double maxLenSquare = 0.0;
maxLengthSquare = 0.0;
double deltaX = 0.0; // deltaX = sum of all det[subset][i]
int i;
Bits bit;
@ -358,8 +358,8 @@ Vector3D Simplex::computeClosestPointForSubset(Bits subset) const {
// deltaX = sum of all det[subset][i]
deltaX += det[subset][i];
if (maxLenSquare < pointsLengthSquare[i]) {
maxLenSquare = pointsLengthSquare[i];
if (maxLengthSquare < pointsLengthSquare[i]) {
maxLengthSquare = pointsLengthSquare[i];
}
// Closest point v = sum(lambda_i * points[i])

2
src/collision/GJK/Simplex.h
View File

@ -67,7 +67,7 @@ class Simplex {
bool isProperSubset(Bits subset) const; // Return true if the subset is a proper subset
void updateCache(); // Update the cached values used during the GJK algorithm
void computeDeterminants(); // Compute the cached determinant values
Vector3D computeClosestPointForSubset(Bits subset) const; // Return the closest point "v" in the convex hull of a subset of points
Vector3D computeClosestPointForSubset(Bits subset); // Return the closest point "v" in the convex hull of a subset of points
public:
Simplex(); // Constructor