Some modifications in the collision detection.

git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@374 92aac97c-a6ce-11dd-a772-7fcde58d38e6

sources/reactphysics3d/collision/CollisionDetection.cpp

@@ -25,9 +25,11 @@
 #include "../body/OBB.h"
 #include "../body/RigidBody.h"
 #include <cassert>
+#include <complex>
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;
+using namespace std;
 
 // Constructor
 CollisionDetection::CollisionDetection(PhysicsWorld* world) {

sources/reactphysics3d/collision/CollisionDetection.h

@@ -51,6 +51,7 @@ class CollisionDetection {
         void computeNarrowPhase();                                                  // Compute the narrow-phase collision detection
         void computeAllContacts();                                                  // Compute all the contacts from the collision info list
         void computeContact(const ContactInfo* const contactInfo);                  // Compute a contact (and add it to the physics world) for two colliding bodies
+        void computeContact2(const ContactInfo* const contactInfo);                  // Compute a contact (and add it to the physics world) for two colliding bodies
 
     public :
         CollisionDetection(PhysicsWorld* physicsWorld);                             // Constructor

sources/reactphysics3d/collision/ContactInfo.h

@@ -43,7 +43,7 @@ struct ContactInfo {
         const Vector3D normal;                   // Normal vector the the collision contact
         const double penetrationDepth;           // Penetration depth of the contact
         
-        ContactInfo(const OBB* const obb1, const OBB* const obb2, const Vector3D& normal, double penetrationDepth);   // Constructor
+        ContactInfo(const OBB* const obb1, const OBB* const obb2, const Vector3D& normal, double penetrationDepth);                                                                // Constructor
 };
 
 } // End of the ReactPhysics3D namespace

sources/reactphysics3d/collision/SATAlgorithm.cpp

@@ -27,6 +27,7 @@
 #include <cmath>
 #include <cassert>
 
+
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;
 
@@ -170,7 +171,6 @@ bool SATAlgorithm::computeCollisionTest(const OBB* const obb1, const OBB* const
     }
     else if (penetrationDepth < minPenetrationDepth) {  // Interval 1 and 2 overlap with a smaller penetration depth on this axis
         minPenetrationDepth = penetrationDepth;                         // Update the minimum penetration depth
-        normal = computeContactNormal(obb1->getAxis(2), boxDistance);   // Compute the contact normal with the correct sign
     }
 
     // Axis B0

sources/reactphysics3d/constraint/Contact.h

@@ -30,7 +30,7 @@ namespace reactphysics3d {
 
 // Constants
 const double FRICTION_COEFFICIENT = 0.1;    // Friction coefficient
-const double PENETRATION_FACTOR = 0.6;      // Penetration factor (between 0 and 1) which specify the importance of the
+const double PENETRATION_FACTOR = 1.0;      // Penetration factor (between 0 and 1) which specify the importance of the
                                             // penetration depth in order to calculate the correct impulse for the contact
 
 /*  -------------------------------------------------------------------