mrq/reactphysics3d
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Remove some commented code

Browse Source 
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@359 92aac97c-a6ce-11dd-a772-7fcde58d38e6
This commit is contained in:
chappuis.daniel 2010-07-19 19:32:12 +00:00
parent 367f6b3cac
commit efe29ae94e
1 changed files with 0 additions and 101 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

101
sources/reactphysics3d/collision/SATAlgorithm.cpp
View File

@ -448,104 +448,3 @@ double SATAlgorithm::computePenetrationDepth(double min1, double max1, double mi
// Return the computed penetration depth
return penetrationDepth;
}
/* TODO : Remove this following code
// Compute a new collision contact between two OBBs
void SATAlgorithm::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 {
unsigned int nbVerticesExtremeOBB1 = obb1ExtremePoints.size();
unsigned int nbVerticesExtremeOBB2 = obb2ExtremePoints.size();
assert(nbVerticesExtremeOBB1==1 || nbVerticesExtremeOBB1==2 || nbVerticesExtremeOBB1==4);
assert(nbVerticesExtremeOBB2==1 || nbVerticesExtremeOBB2==2 || nbVerticesExtremeOBB2==4);
assert(approxEqual(normal.length(), 1.0));
// If it's a Vertex-Something contact
if (nbVerticesExtremeOBB1 == 1) {
// Create a new contact
*contact = new Contact(obb1->getBodyPointer(), obb2->getBodyPointer(), normal, penetrationDepth, obb1ExtremePoints);
}
else if(nbVerticesExtremeOBB2 == 1) { // If its a Vertex-Something contact
// Create a new contact
*contact = new Contact(obb1->getBodyPointer(), obb2->getBodyPointer(), normal, penetrationDepth, obb2ExtremePoints);
}
else if (nbVerticesExtremeOBB1 == 2 && nbVerticesExtremeOBB2 == 2) { // If it's an edge-edge contact
// Compute the two vectors of the segment lines
Vector3D d1 = obb1ExtremePoints[1] - obb1ExtremePoints[0];
Vector3D d2 = obb2ExtremePoints[1] - obb2ExtremePoints[0];
double alpha, beta;
std::vector<Vector3D> contactSet;
// If the two edges are parallel
if (d1.isParallelWith(d2)) {
Vector3D contactPointA;
Vector3D contactPointB;
// Compute the intersection between the two edges
computeParallelSegmentsIntersection(obb1ExtremePoints[0], obb1ExtremePoints[1], obb2ExtremePoints[0], obb2ExtremePoints[1],
contactPointA, contactPointB);
// Add the two contact points in the contact set
contactSet.push_back(contactPointA);
contactSet.push_back(contactPointB);
}
else { // If the two edges are not parallel
// Compute the closest two points between the two line segments
closestPointsBetweenTwoLines(obb1ExtremePoints[0], d1, obb2ExtremePoints[0], d2, &alpha, &beta);
Vector3D pointA = obb1ExtremePoints[0] + d1 * alpha;
Vector3D pointB = obb2ExtremePoints[0] + d2 * beta;
// Compute the contact point as halfway between the 2 closest points
Vector3D contactPoint = 0.5 * (pointA + pointB);
// Add the contact point into the contact set
contactSet.push_back(contactPoint);
}
// Create a new contact
*contact = new Contact(obb1->getBodyPointer(), obb2->getBodyPointer(), normal, penetrationDepth, contactSet);
}
else if(nbVerticesExtremeOBB1 == 2 && nbVerticesExtremeOBB2 == 4) { // If it's an edge-face contact
// Compute the projection of the edge of OBB1 onto the same plane of the face of OBB2
std::vector<Vector3D> edge = projectPointsOntoPlane(obb1ExtremePoints, obb2ExtremePoints[0], normal);
// Clip the edge of OBB1 using the face of OBB2
std::vector<Vector3D> clippedEdge = clipSegmentWithRectangleInPlane(edge, obb2ExtremePoints);
// Move the clipped edge halway between the edge of OBB1 and the face of OBB2
clippedEdge = movePoints(clippedEdge, penetrationDepth/2.0 * normal.getOpposite());
// Create a new contact
*contact = new Contact(obb1->getBodyPointer(), obb2->getBodyPointer(), normal, penetrationDepth, clippedEdge);
}
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
std::vector<Vector3D> edge = projectPointsOntoPlane(obb2ExtremePoints, obb1ExtremePoints[0], normal);
// Clip the edge of OBB2 using the face of OBB1
std::vector<Vector3D> clippedEdge = clipSegmentWithRectangleInPlane(edge, obb1ExtremePoints);
// Move the clipped edge halfway between the face of OBB1 and the edge of OBB2
clippedEdge = movePoints(clippedEdge, penetrationDepth/2.0 * normal);
// Create a new contact
*contact = new Contact(obb1->getBodyPointer(), obb2->getBodyPointer(), normal, penetrationDepth, clippedEdge);
}
else { // If it's a face-face contact
// Compute the projection of the face vertices of OBB2 onto the plane of the face of OBB1
std::vector<Vector3D> faceOBB2 = projectPointsOntoPlane(obb2ExtremePoints, obb1ExtremePoints[0], normal);
// Clip the face of OBB2 using the face of OBB1
std::vector<Vector3D> clippedFace = clipPolygonWithRectangleInPlane(faceOBB2, obb1ExtremePoints);
// Move the clipped face halfway between the face of OBB1 and the face of OBB2
clippedFace = movePoints(clippedFace, penetrationDepth/2.0 * normal);
// Create a new contact
*contact = new Contact(obb1->getBodyPointer(), obb2->getBodyPointer(), normal, penetrationDepth, clippedFace);
}
assert(*contact != 0);
}
*/