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Replace some matrix multiplications by quaternion multiplications

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This commit is contained in:
Daniel Chappuis 2014-11-05 20:52:21 +01:00
parent 3da146eb84
commit ca660b5057
2 changed files with 5 additions and 5 deletions
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2
src/collision/narrowphase/EPA/EPAAlgorithm.cpp
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@ -392,7 +392,7 @@ bool EPAAlgorithm::computePenetrationDepthAndContactPoints(const Simplex& simple
} while(nbTriangles > 0 && triangleHeap[0]->getDistSquare() <= upperBoundSquarePenDepth);
// Compute the contact info
v = transform1.getOrientation().getMatrix() * triangle->getClosestPoint();
v = transform1.getOrientation() * triangle->getClosestPoint();
Vector3 pALocal = triangle->computeClosestPointOfObject(suppPointsA);
Vector3 pBLocal = body2Tobody1.getInverse() * triangle->computeClosestPointOfObject(suppPointsB);
Vector3 normal = v.getUnit();

8
src/collision/narrowphase/GJK/GJKAlgorithm.cpp
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@ -133,7 +133,7 @@ bool GJKAlgorithm::testCollision(ProxyShape* collisionShape1, ProxyShape* collis
pB = body2Tobody1.getInverse() * (pB + (collisionShape2->getMargin() / dist) * v);
// Compute the contact info
Vector3 normal = transform1.getOrientation().getMatrix() * (-v.getUnit());
Vector3 normal = transform1.getOrientation() * (-v.getUnit());
decimal penetrationDepth = margin - dist;
// Reject the contact if the penetration depth is negative (due too numerical errors)
@ -165,7 +165,7 @@ bool GJKAlgorithm::testCollision(ProxyShape* collisionShape1, ProxyShape* collis
pB = body2Tobody1.getInverse() * (pB + (collisionShape2->getMargin() / dist) * v);
// Compute the contact info
Vector3 normal = transform1.getOrientation().getMatrix() * (-v.getUnit());
Vector3 normal = transform1.getOrientation() * (-v.getUnit());
decimal penetrationDepth = margin - dist;
// Reject the contact if the penetration depth is negative (due too numerical errors)
@ -195,7 +195,7 @@ bool GJKAlgorithm::testCollision(ProxyShape* collisionShape1, ProxyShape* collis
pB = body2Tobody1.getInverse() * (pB + (collisionShape2->getMargin() / dist) * v);
// Compute the contact info
Vector3 normal = transform1.getOrientation().getMatrix() * (-v.getUnit());
Vector3 normal = transform1.getOrientation() * (-v.getUnit());
decimal penetrationDepth = margin - dist;
// Reject the contact if the penetration depth is negative (due too numerical errors)
@ -232,7 +232,7 @@ bool GJKAlgorithm::testCollision(ProxyShape* collisionShape1, ProxyShape* collis
pB = body2Tobody1.getInverse() * (pB + (collisionShape2->getMargin() / dist) * v);
// Compute the contact info
Vector3 normal = transform1.getOrientation().getMatrix() * (-v.getUnit());
Vector3 normal = transform1.getOrientation() * (-v.getUnit());
decimal penetrationDepth = margin - dist;
// Reject the contact if the penetration depth is negative (due too numerical errors)