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Improve capsule resting on another shape stability

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This commit is contained in:
Daniel Chappuis 2017-10-18 21:26:53 +02:00
parent 0250d8c4bd
commit cdec7413c5
2 changed files with 4 additions and 3 deletions
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5
src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp
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@ -86,14 +86,15 @@ bool CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfo* narrowPh
const Vector3 capsuleSegA(0, -capsuleShape->getHeight() * decimal(0.5), 0);
const Vector3 capsuleSegB(0, capsuleShape->getHeight() * decimal(0.5), 0);
const Vector3 capsuleInnerSegmentWorld = capsuleToWorld.getOrientation() * (capsuleSegB - capsuleSegA);
Vector3 capsuleInnerSegmentDirection = capsuleToWorld.getOrientation() * (capsuleSegB - capsuleSegA);
capsuleInnerSegmentDirection.normalize();
bool isFaceNormalInDirectionOfContactNormal = faceNormalWorld.dot(contactPoint->normal) > decimal(0.0);
bool isFaceNormalInContactDirection = (isCapsuleShape1 && !isFaceNormalInDirectionOfContactNormal) || (!isCapsuleShape1 && isFaceNormalInDirectionOfContactNormal);
// If the polyhedron face normal is orthogonal to the capsule inner segment and parallel to the contact point normal and the face normal
// is in direction of the contact normal (from the polyhedron point of view).
if (isFaceNormalInContactDirection && areOrthogonalVectors(faceNormalWorld, capsuleInnerSegmentWorld)
if (isFaceNormalInContactDirection && areOrthogonalVectors(faceNormalWorld, capsuleInnerSegmentDirection)
&& areParallelVectors(faceNormalWorld, contactPoint->normal)) {
// Remove the previous contact point computed by GJK

2
src/mathematics/mathematics_functions.cpp
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@ -80,7 +80,7 @@ bool reactphysics3d::areParallelVectors(const Vector3& vector1, const Vector3& v
// Return true if two vectors are orthogonal
bool reactphysics3d::areOrthogonalVectors(const Vector3& vector1, const Vector3& vector2) {
return std::abs(vector1.dot(vector2)) < decimal(0.00001);
return std::abs(vector1.dot(vector2)) < decimal(0.001);
}
// Compute and return a point on segment from "segPointA" and "segPointB" that is closest to point "pointC"