git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@211 92aac97c-a6ce-11dd-a772-7fcde58d38e6
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@ -19,8 +19,8 @@
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// Libraries
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#include "CollisionDetection.h"
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#include "SeparatingAxisAABB.h"
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#include "SeparatingAxisOBB.h"
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#include "NoBroadPhaseAlgorithm.h"
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#include "NarrowPhaseSATAlgorithm.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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@ -32,10 +32,10 @@ using namespace reactphysics3d;
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CollisionDetection::CollisionDetection() {
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// Construct the broad-phase algorithm that will be used (Separating axis with AABB)
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broadPhaseAlgorithm = new SeparatingAxisAABB();
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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 SeparatingAxisOBB();
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narrowPhaseAlgorithm = new NarrowPhaseSATAlgorithm();
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}
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// Destructor
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@ -65,7 +65,7 @@ bool CollisionDetection::computeCollisionDetection(CollisionWorld* collisionWorl
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Contact* contact = 0;
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// Use the narrow-phase algorithm to check if the two bodies really collide
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if(narrowPhaseAlgorithm->testCollision(&obb1, &obb2, &contact, velocity1, velocity2, timeMax)) {
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if(narrowPhaseAlgorithm->testCollision(&obb1, &obb2, &contact)) {
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assert(contact != 0);
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// Add the new collision contact into the collision world
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