git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@262 92aac97c-a6ce-11dd-a772-7fcde58d38e6
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chappuis.daniel
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d5c7822c84
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b70e418bd7
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@ -20,7 +20,7 @@
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// Libraries
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#include "CollisionDetection.h"
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#include "NoBroadPhaseAlgorithm.h"
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#include "NarrowPhaseSATAlgorithm.h"
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#include "SATAlgorithm.h"
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#include "../body/OBB.h"
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#include "../body/RigidBody.h"
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#include <cassert>
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@ -35,7 +35,7 @@ CollisionDetection::CollisionDetection() {
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broadPhaseAlgorithm = new NoBroadPhaseAlgorithm();
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// Construct the narrow-phase algorithm that will be used (Separating axis with OBB)
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narrowPhaseAlgorithm = new NarrowPhaseSATAlgorithm();
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narrowPhaseAlgorithm = new SATAlgorithm();
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}
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// Destructor
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@ -18,13 +18,12 @@
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***************************************************************************/
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// Libraries
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#include "NarrowPhaseSATAlgorithm.h"
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#include "SATAlgorithm.h"
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#include "../body/OBB.h"
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#include "../body/RigidBody.h"
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#include "../constraint/Contact.h"
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#include <algorithm>
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#include <cfloat>
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#include <iostream> // TODO : Delete this
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#include <cassert>
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// We want to use the ReactPhysics3D namespace
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@ -36,18 +35,18 @@ using namespace reactphysics3d;
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// everything have to do with the new SAT algorithm
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// Constructor
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NarrowPhaseSATAlgorithm::NarrowPhaseSATAlgorithm() {
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SATAlgorithm::SATAlgorithm() {
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}
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// Destructor
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NarrowPhaseSATAlgorithm::~NarrowPhaseSATAlgorithm() {
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SATAlgorithm::~SATAlgorithm() {
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}
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// Return true and compute a collision contact if the two bounding volume collide.
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// The method returns false if there is no collision between the two bounding volumes.
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bool NarrowPhaseSATAlgorithm::testCollision(const BoundingVolume* const boundingVolume1, const BoundingVolume* const boundingVolume2, Contact** contact) {
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bool SATAlgorithm::testCollision(const BoundingVolume* const boundingVolume1, const BoundingVolume* const boundingVolume2, Contact** contact) {
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assert(boundingVolume1 != boundingVolume2);
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assert(*contact == 0);
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@ -74,7 +73,7 @@ bool NarrowPhaseSATAlgorithm::testCollision(const BoundingVolume* const bounding
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// OBB are the six face normals (3 for each OBB) and the nine vectors V = Ai x Bj where Ai is the ith face normal
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// vector of OBB 1 and Bj is the jth face normal vector of OBB 2. We will use the notation Ai for the ith face
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// normal of OBB 1 and Bj for the jth face normal of OBB 2.
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bool NarrowPhaseSATAlgorithm::computeCollisionTest(const OBB* const obb1, const OBB* const obb2, Contact** contact) const {
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bool SATAlgorithm::computeCollisionTest(const OBB* const obb1, const OBB* const obb2, Contact** contact) const {
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double center; // Center of a projection interval
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double radius1; // Radius of projection interval [min1, max1]
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@ -456,7 +455,7 @@ bool NarrowPhaseSATAlgorithm::computeCollisionTest(const OBB* const obb1, const
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// penetration depth (note that it could return a negative penetration depth if the intervals are separated. This
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// method also find which interval is at the left of the other in order to know which extreme of interval 1 collides with
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// which extreme of interval 2 if a collision occur.
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double NarrowPhaseSATAlgorithm::computePenetrationDepth(double min1, double max1, double min2, double max2, bool& side) const {
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double SATAlgorithm::computePenetrationDepth(double min1, double max1, double min2, double max2, bool& side) const {
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// Compute the length of both intervals
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double lengthInterval1 = max1 - min1;
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@ -485,7 +484,7 @@ double NarrowPhaseSATAlgorithm::computePenetrationDepth(double min1, double max1
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}
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// Compute a new collision contact between two OBBs
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void NarrowPhaseSATAlgorithm::computeContact(const OBB* const obb1, const OBB* const obb2, const Vector3D normal, double penetrationDepth,
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void SATAlgorithm::computeContact(const OBB* const obb1, const OBB* const obb2, const Vector3D normal, double penetrationDepth,
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const std::vector<Vector3D>& obb1ExtremePoints, const std::vector<Vector3D>& obb2ExtremePoints, Contact** contact) const {
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unsigned int nbVerticesExtremeOBB1 = obb1ExtremePoints.size();
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@ -17,8 +17,8 @@
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* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
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***************************************************************************/
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#ifndef NARROWPHASESATALGORITHM_H
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#define NARROWPHASESATALGORITHM_H
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#ifndef SATALGORITHM_H
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#define SATALGORITHM_H
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// Libraries
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#include "NarrowPhaseAlgorithm.h"
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@ -29,7 +29,7 @@
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namespace reactphysics3d {
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/* -------------------------------------------------------------------
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Class NarrowPhaseSATAlgorithm :
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Class SATAlgorithm :
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This class implements a narrow-phase algorithm. This algorithm
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uses a separating axis theorem (SAT) to check if two bounding
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volumes collide or not. If the
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@ -42,7 +42,7 @@ namespace reactphysics3d {
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intersect.
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-------------------------------------------------------------------
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*/
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class NarrowPhaseSATAlgorithm : public NarrowPhaseAlgorithm {
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class SATAlgorithm : public NarrowPhaseAlgorithm {
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private :
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bool computeCollisionTest(const OBB* const obb1, const OBB* const obb2, Contact** contact) const; // Return true and compute a collision contact if the two OBB collide
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double computePenetrationDepth(double min1, double max1, double min2, double max2, bool& side) const; // Compute the penetration depth of two projection intervals
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@ -51,8 +51,8 @@ class NarrowPhaseSATAlgorithm : public NarrowPhaseAlgorithm {
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Vector3D computeContactNormal(const Vector3D& axis, const Vector3D& distanceOfOBBs) const; // Compute a contact normal
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public :
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NarrowPhaseSATAlgorithm(); // Constructor
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~NarrowPhaseSATAlgorithm(); // Destructor
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SATAlgorithm(); // Constructor
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~SATAlgorithm(); // Destructor
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virtual bool testCollision(const BoundingVolume* const boundingVolume1, const BoundingVolume* const boundingVolume2, Contact** contact); // Return true and compute a collision contact if the two bounding volume collide
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};
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@ -61,7 +61,7 @@ class NarrowPhaseSATAlgorithm : public NarrowPhaseAlgorithm {
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// Return the contact normal with the correct sign (from obb1 toward obb2). "axis" is the axis vector direction where the
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// collision occur and "distanceOfOBBs" is the vector (obb2.center - obb1.center).
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inline Vector3D NarrowPhaseSATAlgorithm::computeContactNormal(const Vector3D& axis, const Vector3D& distanceOfOBBs) const {
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inline Vector3D SATAlgorithm::computeContactNormal(const Vector3D& axis, const Vector3D& distanceOfOBBs) const {
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if (distanceOfOBBs.scalarProduct(axis) >= 0.0) {
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return axis;
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}
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