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Correct some bugs with the contact generation

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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@355 92aac97c-a6ce-11dd-a772-7fcde58d38e6
This commit is contained in:
chappuis.daniel 2010-07-19 19:23:31 +00:00
parent 1cc6a39fb6
commit be8028b835
1 changed files with 24 additions and 2 deletions
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26
sources/reactphysics3d/collision/CollisionDetection.cpp
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@ -122,7 +122,7 @@ void CollisionDetection::computeAllContacts() {
// Compute a contact (and add it to the physics world) for two colliding bodies // Compute a contact (and add it to the physics world) for two colliding bodies
void CollisionDetection::computeContact(const ContactInfo* const contactInfo) { void CollisionDetection::computeContact(const ContactInfo* const contactInfo) {
// Extract informations from the contact info structure // Extract informations from the contact info structure
const OBB* const obb1 = contactInfo->obb1; const OBB* const obb1 = contactInfo->obb1;
const OBB* const obb2 = contactInfo->obb2; const OBB* const obb2 = contactInfo->obb2;
@ -193,8 +193,19 @@ void CollisionDetection::computeContact(const ContactInfo* const contactInfo) {
// Clip the edge of OBB1 using the face of OBB2 // Clip the edge of OBB1 using the face of OBB2
std::vector<Vector3D> clippedEdge = clipSegmentWithRectangleInPlane(edge, obb2ExtremePoints); std::vector<Vector3D> clippedEdge = clipSegmentWithRectangleInPlane(edge, obb2ExtremePoints);
// TODO : Correct this bug
// The following code is to correct a bug when the projected "edge" is not inside the clip rectangle
// of obb1ExtremePoints. Therefore, we compute the nearest two points that are on the rectangle.
if (clippedEdge.size() != 2) {
edge.clear();
edge.push_back(computeNearestPointOnRectangle(edge[0], obb2ExtremePoints));
edge.push_back(computeNearestPointOnRectangle(edge[1], obb2ExtremePoints));
clippedEdge = clipSegmentWithRectangleInPlane(edge, obb2ExtremePoints);
}
// Move the clipped edge halway between the edge of OBB1 and the face of OBB2 // Move the clipped edge halway between the edge of OBB1 and the face of OBB2
clippedEdge = movePoints(clippedEdge, penetrationDepth/2.0 * normal.getOpposite()); clippedEdge = movePoints(clippedEdge, penetrationDepth/2.0 * normal.getOpposite());
assert(clippedEdge.size() == 2); assert(clippedEdge.size() == 2);
// For each point of the contact set // For each point of the contact set
@ -206,12 +217,23 @@ void CollisionDetection::computeContact(const ContactInfo* const contactInfo) {
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
// Compute the projection of the edge of OBB2 onto the same plane of the face of OBB1 // 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); std::vector<Vector3D> edge = projectPointsOntoPlane(obb2ExtremePoints, obb1ExtremePoints[0], normal);
// Clip the edge of OBB2 using the face of OBB1 // Clip the edge of OBB2 using the face of OBB1
std::vector<Vector3D> clippedEdge = clipSegmentWithRectangleInPlane(edge, obb1ExtremePoints); std::vector<Vector3D> clippedEdge = clipSegmentWithRectangleInPlane(edge, obb1ExtremePoints);
// TODO : Correct this bug
// The following code is to correct a bug when the projected "edge" is not inside the clip rectangle
// of obb1ExtremePoints. Therefore, we compute the nearest two points that are on the rectangle.
if (clippedEdge.size() != 2) {
edge.clear();
edge.push_back(computeNearestPointOnRectangle(edge[0], obb1ExtremePoints));
edge.push_back(computeNearestPointOnRectangle(edge[1], obb1ExtremePoints));
clippedEdge = clipSegmentWithRectangleInPlane(edge, obb1ExtremePoints);
}
// Move the clipped edge halfway between the face of OBB1 and the edge of OBB2 // Move the clipped edge halfway between the face of OBB1 and the edge of OBB2
clippedEdge = movePoints(clippedEdge, penetrationDepth/2.0 * normal); clippedEdge = movePoints(clippedEdge, penetrationDepth/2.0 * normal);
assert(clippedEdge.size() == 2); assert(clippedEdge.size() == 2);
// For each point of the contact set // For each point of the contact set