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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@228 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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This commit is contained in:
chappuis.daniel 2009-12-21 22:57:16 +00:00
parent a89fcb13fe
commit d0c95a9f1f
2 changed files with 31 additions and 6 deletions
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35
sources/reactphysics3d/collision/NarrowPhaseSATAlgorithm.cpp
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@ -122,7 +122,7 @@ bool NarrowPhaseSATAlgorithm::computeCollisionTest(const OBB* const obb1, const
max1 = radius1;
min2 = center - radius2;
max2 = center + radius2;
bool sideTemp;
bool sideTemp; // TODO : Check if we really need the "side" variable (maybee, we can remove it)
double penetrationDepth = computePenetrationDepth(min1, max1, min2, max2, minPenetrationDepth, sideTemp);
if (penetrationDepth < 0) { // We have found a separation axis, therefore the two OBBs don't collide
return false;
@ -458,7 +458,7 @@ bool NarrowPhaseSATAlgorithm::computeCollisionTest(const OBB* const obb1, const
// Compute the collision contact
// TODO : The normal has to be unit before passing it to the computeContact() method
computeContact(obb1, obb2, normal.getUnit(), minPenetrationDepth, getExtremeVertices(???), getExtremeVertices(???), Contact** contact)
computeContact(obb1, obb2, normal.getUnit(), minPenetrationDepth, obb1->getExtremeVertices(normal), obb2->getExtremeVertices(normal.getOpposite()), Contact** contact)
// We have found no separation axis, therefore the two OBBs must collide
assert(*contact != 0);
@ -500,9 +500,34 @@ double NarrowPhaseSATAlgorithm::computePenetrationDepth(double min1, double max1
// Compute a new collision contact between two OBBs
void NarrowPhaseSATAlgorithm::computeContact(const OBB* const obb1, const OBB* const obb2, const Vector3D normal, double penetrationDepth,
const std::vector<Vector3D>& obb1Extremepoints, const std::vector<Vector3D>& obb2ExtremePoints, Contact** contact) const {
const std::vector<Vector3D>& obb1ExtremePoints, const std::vector<Vector3D>& obb2ExtremePoints, Contact** contact) const {
unsigned int nbVerticesExtremeOBB1 = obb1ExtremePoints.size();
unsigned int nbVerticesExtremeOBB2 = obb2ExtremePoints.size();
assert(nbVerticesExtremeOBB1==1 || nbVerticesExtremeOBB1==2 || nbVerticesExtremeOBB1==4);
assert(nbVerticesExtremeOBB2==1 || nbVerticesExtremeOBB2==2 || nbVerticesExtremeOBB2==4);
// If it's a Vertex-Something contact
if (nbVerticesExtremeOBB1 == 1) {
// Create a new contact
contact = new Contact(obb1, obb2, normal, obb1ExtremePoints);
}
else if(nbVerticesExtremmeOBB2 == 1) { // If its a Vertex-Something contact
// Create a new contact
contact = new Contact(obb1, obb2, normal, obb2ExtremePoints);
}
else if (nbVerticesExtremeOBB1 == 2 && nbVerticesExtremeOBB2 == 2) { // If it's an edge-edge contact
// TODO : Complete this ...
}
else if(nbVerticesExtremeOBB1 == 2 && nbVerticesExtremeOBB2 == 4) { // If it's an edge-face contact
// TODO : Complete this ...
}
else if(nbVerticesExtremeOBB1 == 4 && nbVerticesExtremeOBB2 == 2) { // If it's an edge-face contact
// TODO : Complete this ...
}
else { // If it's a face-face contact
// TODO : Complete this ...
}
assert(*contact == 0);
// To complete ...
}

2
sources/reactphysics3d/collision/NarrowPhaseSATAlgorithm.h
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@ -47,7 +47,7 @@ class NarrowPhaseSATAlgorithm : public NarrowPhaseAlgorithm {
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
double computePenetrationDepth(double min1, double max1, double min2, double max2, bool& side); // Compute the penetration depth of two projection intervals
void computeContact(const OBB* const obb1, const OBB* const obb2, const Vector3D normal, double penetrationDepth,
const std::vector<Vector3D>& obb1Extremepoints, const std::vector<Vector3D>& obb2ExtremePoints, Contact** contact) const; // Compute a new contact // Compute a new collision contact between two projection intervals
const std::vector<Vector3D>& obb1ExtremePoints, const std::vector<Vector3D>& obb2ExtremePoints, Contact** contact) const; // Compute a new contact // Compute a new collision contact between two projection intervals
Vector3D computeContactNormal(const Vector3D& axis, const Vector3D& distanceOfOBBs) const; // Compute a contact normal
public :
NarrowPhaseSATAlgorithm(); // Constructor