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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@251 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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chappuis.daniel 2010-01-30 17:38:47 +00:00
parent 5fe08fef0a
commit 729f65a688
1 changed files with 36 additions and 5 deletions
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41
sources/reactphysics3d/collision/NarrowPhaseSATAlgorithm.cpp
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@ -87,7 +87,7 @@ bool NarrowPhaseSATAlgorithm::computeCollisionTest(const OBB* const obb1, const
Vector3D normal; // Contact normal (correspond to the separation axis with the smallest positive penetration depth) Vector3D normal; // Contact normal (correspond to the separation axis with the smallest positive penetration depth)
// The contact normal point out of OBB1 toward OBB2 // The contact normal point out of OBB1 toward OBB2
bool side; // True if the interval 1 is at the left of interval 2 if a collision occurs and false otherwise bool side; // True if the interval 1 is at the left of interval 2 if a collision occurs and false otherwise
double minPenetrationDepth = 0.0; // Minimum penetration depth detected among all separated axis double minPenetrationDepth = DBL_MAX; // Minimum penetration depth detected among all separated axis
const double cutoff = 0.999999; // Cutoff for cosine of angles between box axes const double cutoff = 0.999999; // Cutoff for cosine of angles between box axes
bool existsParallelPair = false; // True if there exists two face normals that are parallel. bool existsParallelPair = false; // True if there exists two face normals that are parallel.
// This is used because if a parallel pair exists, it is sufficient // This is used because if a parallel pair exists, it is sufficient
@ -273,7 +273,7 @@ bool NarrowPhaseSATAlgorithm::computeCollisionTest(const OBB* const obb1, const
//std::cout << "Current -- 1 -- min : " << currentInterval1.getMin() << std::endl; //std::cout << "Current -- 1 -- min : " << currentInterval1.getMin() << std::endl;
//std::cout << "Timefirst : " << timeFirst.getValue() << std::endl; //std::cout << "Timefirst : " << timeFirst.getValue() << std::endl;
std::cout << "CONTACT FOUND " << std::endl; std::cout << "CONTACT FOUND " << std::endl;
normal; // TODO : Delete this
// Compute the collision contact // Compute the collision contact
computeContact(obb1, obb2, normal.getUnit(), minPenetrationDepth, obb1->getExtremeVertices(normal), obb2->getExtremeVertices(normal.getOpposite()), contact); computeContact(obb1, obb2, normal.getUnit(), minPenetrationDepth, obb1->getExtremeVertices(normal), obb2->getExtremeVertices(normal.getOpposite()), contact);
@ -493,6 +493,7 @@ void NarrowPhaseSATAlgorithm::computeContact(const OBB* const obb1, const OBB* c
unsigned int nbVerticesExtremeOBB2 = obb2ExtremePoints.size(); unsigned int nbVerticesExtremeOBB2 = obb2ExtremePoints.size();
assert(nbVerticesExtremeOBB1==1 || nbVerticesExtremeOBB1==2 || nbVerticesExtremeOBB1==4); assert(nbVerticesExtremeOBB1==1 || nbVerticesExtremeOBB1==2 || nbVerticesExtremeOBB1==4);
assert(nbVerticesExtremeOBB2==1 || nbVerticesExtremeOBB2==2 || nbVerticesExtremeOBB2==4); assert(nbVerticesExtremeOBB2==1 || nbVerticesExtremeOBB2==2 || nbVerticesExtremeOBB2==4);
assert(approxEqual(normal.length(), 1.0));
// If it's a Vertex-Something contact // If it's a Vertex-Something contact
if (nbVerticesExtremeOBB1 == 1) { if (nbVerticesExtremeOBB1 == 1) {
@ -541,13 +542,43 @@ void NarrowPhaseSATAlgorithm::computeContact(const OBB* const obb1, const OBB* c
*contact = new Contact(obb1->getBodyPointer(), obb2->getBodyPointer(), normal, penetrationDepth, contactSet); *contact = new Contact(obb1->getBodyPointer(), obb2->getBodyPointer(), normal, penetrationDepth, contactSet);
} }
else if(nbVerticesExtremeOBB1 == 2 && nbVerticesExtremeOBB2 == 4) { // If it's an edge-face contact else if(nbVerticesExtremeOBB1 == 2 && nbVerticesExtremeOBB2 == 4) { // If it's an edge-face contact
// TODO : Complete this ... // Compute the projection of the edge of OBB1 onto the same plane of the face of OBB2
std::vector<Vector3D> edge = projectPointsOntoPlane(obb1ExtremePoints, obb2ExtremePoints[0], normal);
// Clip the edge of OBB1 using the face of OBB2
std::vector<Vector3D> clippedEdge = clipSegmentWithRectangleInPlane(edge, obb2ExtremePoints);
// Move the clipped edge halway between the edge of OBB1 and the face of OBB2
clippedEdge = movePoints(clippedEdge, penetrationDepth/2.0 * normal.getOpposite());
// Create a new contact
*contact = new Contact(obb1->getBodyPointer(), obb2->getBodyPointer(), normal, penetrationDepth, clippedEdge);
} }
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
// TODO : Complete this ... // 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);
// Clip the edge of OBB2 using the face of OBB1
std::vector<Vector3D> clippedEdge = clipSegmentWithRectangleInPlane(edge, obb1ExtremePoints);
// Move the clipped edge halfway between the face of OBB1 and the edge of OBB2
clippedEdge = movePoints(clippedEdge, penetrationDepth/2.0 * normal);
// Create a new contact
*contact = new Contact(obb1->getBodyPointer(), obb2->getBodyPointer(), normal, penetrationDepth, clippedEdge);
} }
else { // If it's a face-face contact else { // If it's a face-face contact
// TODO : Complete this ... // Compute the projection of the face vertices of OBB2 onto the plane of the face of OBB1
std::vector<Vector3D> faceOBB2 = projectPointsOntoPlane(obb2ExtremePoints, obb1ExtremePoints[0], normal);
// Clip the face of OBB2 using the face of OBB1
std::vector<Vector3D> clippedFace = clipPolygonWithRectangleInPlane(faceOBB2, obb1ExtremePoints);
// Move the clipped face halfway between the face of OBB1 and the face of OBB2
clippedFace = movePoints(clippedFace, penetrationDepth/2.0 * normal);
// Create a new contact
*contact = new Contact(obb1->getBodyPointer(), obb2->getBodyPointer(), normal, penetrationDepth, clippedFace);
} }
assert(*contact != 0); assert(*contact != 0);