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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); this->getOwnerTriangle()->setAdjacentEdge(index, edge);
} }
// Compute the silhouette // Compute the silhouette
bool EdgeEPA::computeSilhouette(const Vector3D* vertices, uint index, TrianglesStore triangleStore) { bool EdgeEPA::computeSilhouette(const Vector3D* vertices, uint index, TrianglesStore triangleStore) {
// If the edge has not already been visited // If the edge has not already been visited

3
src/collision/GJK/GJKAlgorithm.cpp
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@ -205,6 +205,9 @@ bool GJKAlgorithm::testCollision(const NarrowBoundingVolume* const boundingVolum
return true; return true;
} }
double test = simplex.getMaxLengthSquareOfAPoint(); // TODO : Remove this
test = 4.5;
} while(!simplex.isFull() && distSquare > MACHINE_EPSILON * simplex.getMaxLengthSquareOfAPoint()); } while(!simplex.isFull() && distSquare > MACHINE_EPSILON * simplex.getMaxLengthSquareOfAPoint());
// The objects (without margins) intersect. Therefore, we run the GJK algorithm again but on the // The objects (without margins) intersect. Therefore, we run the GJK algorithm again but on the

12
src/collision/GJK/Simplex.cpp
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@ -312,10 +312,10 @@ bool Simplex::computeClosestPoint(Vector3D& v) {
} }
} }
// If the simplex that contains only the last added point is valid for the // If the simplex that contains only the last added point is valid for the Johnson's algorithm test
// Johnson's algorithm test
if (isValidSubset(lastFoundBit)) { if (isValidSubset(lastFoundBit)) {
bitsCurrentSimplex = lastFoundBit; // Set the current simplex to the set that contains only 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 v = points[lastFound]; // The closest point of the simplex "v" is the last added point
return true; 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 // Return the closest point "v" in the convex hull of the points in the subset
// represented by the bits "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]) 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] double deltaX = 0.0; // deltaX = sum of all det[subset][i]
int i; int i;
Bits bit; Bits bit;
@ -358,8 +358,8 @@ Vector3D Simplex::computeClosestPointForSubset(Bits subset) const {
// deltaX = sum of all det[subset][i] // deltaX = sum of all det[subset][i]
deltaX += det[subset][i]; deltaX += det[subset][i];
if (maxLenSquare < pointsLengthSquare[i]) { if (maxLengthSquare < pointsLengthSquare[i]) {
maxLenSquare = pointsLengthSquare[i]; maxLengthSquare = pointsLengthSquare[i];
} }
// Closest point v = sum(lambda_i * points[i]) // Closest point v = sum(lambda_i * points[i])

2
src/collision/GJK/Simplex.h
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@ -67,7 +67,7 @@ class Simplex {
bool isProperSubset(Bits subset) const; // Return true if the subset is a proper subset 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 updateCache(); // Update the cached values used during the GJK algorithm
void computeDeterminants(); // Compute the cached determinant values 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: public:
Simplex(); // Constructor Simplex(); // Constructor