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Fix issue in SAT algorithm between polyhedron and capsule

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This commit is contained in:
Daniel Chappuis 2017-09-25 23:06:17 +02:00
parent 643c781fa0
commit b33b8e0dc5
1 changed files with 5 additions and 3 deletions
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8
src/collision/narrowphase/SAT/SATAlgorithm.cpp
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@ -391,6 +391,10 @@ void SATAlgorithm::computeCapsulePolyhedronFaceContactPoints(uint referenceFaceI
// Project the two clipped points into the polyhedron face // Project the two clipped points into the polyhedron face
const Vector3 delta = faceNormal * (penetrationDepth - capsuleRadius); const Vector3 delta = faceNormal * (penetrationDepth - capsuleRadius);
if (isCapsuleShape1) {
normalWorld = -normalWorld;
}
// For each of the two clipped points // For each of the two clipped points
for (int i = 0; i<2; i++) { for (int i = 0; i<2; i++) {
@ -405,9 +409,7 @@ void SATAlgorithm::computeCapsulePolyhedronFaceContactPoints(uint referenceFaceI
// Project the clipped point into the capsule bounds // Project the clipped point into the capsule bounds
Vector3 contactPointCapsule = (polyhedronToCapsuleTransform * clipSegment[i]) - separatingAxisCapsuleSpace * capsuleRadius; Vector3 contactPointCapsule = (polyhedronToCapsuleTransform * clipSegment[i]) - separatingAxisCapsuleSpace * capsuleRadius;
if (isCapsuleShape1) {
normalWorld = -normalWorld;
}
// Compute smooth triangle mesh contact if one of the two collision shapes is a triangle // Compute smooth triangle mesh contact if one of the two collision shapes is a triangle
TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfo->collisionShape1, narrowPhaseInfo->collisionShape2, TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfo->collisionShape1, narrowPhaseInfo->collisionShape2,