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Correct the cutoff coefficient to 0.99

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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@353 92aac97c-a6ce-11dd-a772-7fcde58d38e6
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chappuis.daniel 2010-07-19 19:22:11 +00:00
parent 730c2d33f5
commit b0f2dbadcd
1 changed files with 2 additions and 3 deletions
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5
sources/reactphysics3d/collision/SATAlgorithm.cpp
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@ -26,7 +26,6 @@
#include <cfloat> #include <cfloat>
#include <cmath> #include <cmath>
#include <cassert> #include <cassert>
#include <iostream> // TODO : Delete this
// We want to use the ReactPhysics3D namespace // We want to use the ReactPhysics3D namespace
using namespace reactphysics3d; using namespace reactphysics3d;
@ -88,7 +87,7 @@ bool SATAlgorithm::computeCollisionTest(const OBB* const obb1, const OBB* const
// 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 = DBL_MAX; // Minimum penetration depth detected among all separated axis double minPenetrationDepth = DBL_MAX; // Minimum penetration depth detected among all separated axis
const double cutoff = 0.9; // Cutoff for cosine of angles between box axes const double cutoff = 0.99; // 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
// to test only the face normals of the OBBs for separation. Two nearly // to test only the face normals of the OBBs for separation. Two nearly
@ -100,7 +99,7 @@ bool SATAlgorithm::computeCollisionTest(const OBB* const obb1, const OBB* const
double absC[3][3]; // absC[i][j] = abs(DotProduct(obb1.Ai, obb2.Bj)) double absC[3][3]; // absC[i][j] = abs(DotProduct(obb1.Ai, obb2.Bj))
double udc1[3]; // DotProduct(obb1.Ai, obb2.center - obb1.center) double udc1[3]; // DotProduct(obb1.Ai, obb2.center - obb1.center)
double udc2[3]; // DotProduct(obb2.Ai, obb2.center - obb1.center) double udc2[3]; // DotProduct(obb2.Ai, obb2.center - obb1.center)
Vector3D boxDistance = obb2->getCenter() - obb1->getCenter(); // Vector between the centers of the OBBs Vector3D boxDistance = obb2->getCenter() - obb1->getCenter(); // Vector between the centers of the OBBs
// Axis A0 // Axis A0