Remove some commented code
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@359 92aac97c-a6ce-11dd-a772-7fcde58d38e6
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@ -448,104 +448,3 @@ double SATAlgorithm::computePenetrationDepth(double min1, double max1, double mi
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// Return the computed penetration depth
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return penetrationDepth;
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}
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/* TODO : Remove this following code
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// Compute a new collision contact between two OBBs
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void SATAlgorithm::computeContact(const OBB* const obb1, const OBB* const obb2, const Vector3D normal, double penetrationDepth,
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const std::vector<Vector3D>& obb1ExtremePoints, const std::vector<Vector3D>& obb2ExtremePoints, Contact** contact) const {
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unsigned int nbVerticesExtremeOBB1 = obb1ExtremePoints.size();
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unsigned int nbVerticesExtremeOBB2 = obb2ExtremePoints.size();
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assert(nbVerticesExtremeOBB1==1 || nbVerticesExtremeOBB1==2 || nbVerticesExtremeOBB1==4);
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assert(nbVerticesExtremeOBB2==1 || nbVerticesExtremeOBB2==2 || nbVerticesExtremeOBB2==4);
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assert(approxEqual(normal.length(), 1.0));
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// If it's a Vertex-Something contact
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if (nbVerticesExtremeOBB1 == 1) {
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// Create a new contact
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*contact = new Contact(obb1->getBodyPointer(), obb2->getBodyPointer(), normal, penetrationDepth, obb1ExtremePoints);
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}
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else if(nbVerticesExtremeOBB2 == 1) { // If its a Vertex-Something contact
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// Create a new contact
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*contact = new Contact(obb1->getBodyPointer(), obb2->getBodyPointer(), normal, penetrationDepth, obb2ExtremePoints);
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}
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else if (nbVerticesExtremeOBB1 == 2 && nbVerticesExtremeOBB2 == 2) { // If it's an edge-edge contact
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// Compute the two vectors of the segment lines
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Vector3D d1 = obb1ExtremePoints[1] - obb1ExtremePoints[0];
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Vector3D d2 = obb2ExtremePoints[1] - obb2ExtremePoints[0];
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double alpha, beta;
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std::vector<Vector3D> contactSet;
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// If the two edges are parallel
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if (d1.isParallelWith(d2)) {
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Vector3D contactPointA;
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Vector3D contactPointB;
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// Compute the intersection between the two edges
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computeParallelSegmentsIntersection(obb1ExtremePoints[0], obb1ExtremePoints[1], obb2ExtremePoints[0], obb2ExtremePoints[1],
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contactPointA, contactPointB);
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// Add the two contact points in the contact set
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contactSet.push_back(contactPointA);
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contactSet.push_back(contactPointB);
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}
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else { // If the two edges are not parallel
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// Compute the closest two points between the two line segments
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closestPointsBetweenTwoLines(obb1ExtremePoints[0], d1, obb2ExtremePoints[0], d2, &alpha, &beta);
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Vector3D pointA = obb1ExtremePoints[0] + d1 * alpha;
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Vector3D pointB = obb2ExtremePoints[0] + d2 * beta;
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// Compute the contact point as halfway between the 2 closest points
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Vector3D contactPoint = 0.5 * (pointA + pointB);
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// Add the contact point into the contact set
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contactSet.push_back(contactPoint);
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}
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// Create a new contact
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*contact = new Contact(obb1->getBodyPointer(), obb2->getBodyPointer(), normal, penetrationDepth, contactSet);
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}
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else if(nbVerticesExtremeOBB1 == 2 && nbVerticesExtremeOBB2 == 4) { // If it's an edge-face contact
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// Compute the projection of the edge of OBB1 onto the same plane of the face of OBB2
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std::vector<Vector3D> edge = projectPointsOntoPlane(obb1ExtremePoints, obb2ExtremePoints[0], normal);
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// Clip the edge of OBB1 using the face of OBB2
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std::vector<Vector3D> clippedEdge = clipSegmentWithRectangleInPlane(edge, obb2ExtremePoints);
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// Move the clipped edge halway between the edge of OBB1 and the face of OBB2
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clippedEdge = movePoints(clippedEdge, penetrationDepth/2.0 * normal.getOpposite());
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// Create a new contact
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*contact = new Contact(obb1->getBodyPointer(), obb2->getBodyPointer(), normal, penetrationDepth, clippedEdge);
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}
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else if(nbVerticesExtremeOBB1 == 4 && nbVerticesExtremeOBB2 == 2) { // If it's an edge-face contact
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// Compute the projection of the edge of OBB2 onto the same plane of the face of OBB1
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std::vector<Vector3D> edge = projectPointsOntoPlane(obb2ExtremePoints, obb1ExtremePoints[0], normal);
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// Clip the edge of OBB2 using the face of OBB1
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std::vector<Vector3D> clippedEdge = clipSegmentWithRectangleInPlane(edge, obb1ExtremePoints);
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// Move the clipped edge halfway between the face of OBB1 and the edge of OBB2
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clippedEdge = movePoints(clippedEdge, penetrationDepth/2.0 * normal);
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// Create a new contact
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*contact = new Contact(obb1->getBodyPointer(), obb2->getBodyPointer(), normal, penetrationDepth, clippedEdge);
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}
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else { // If it's a face-face contact
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// Compute the projection of the face vertices of OBB2 onto the plane of the face of OBB1
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std::vector<Vector3D> faceOBB2 = projectPointsOntoPlane(obb2ExtremePoints, obb1ExtremePoints[0], normal);
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// Clip the face of OBB2 using the face of OBB1
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std::vector<Vector3D> clippedFace = clipPolygonWithRectangleInPlane(faceOBB2, obb1ExtremePoints);
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// Move the clipped face halfway between the face of OBB1 and the face of OBB2
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clippedFace = movePoints(clippedFace, penetrationDepth/2.0 * normal);
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// Create a new contact
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*contact = new Contact(obb1->getBodyPointer(), obb2->getBodyPointer(), normal, penetrationDepth, clippedFace);
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}
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assert(*contact != 0);
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}
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*/
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