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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@191 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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This commit is contained in:
chappuis.daniel 2009-08-04 12:23:42 +00:00
parent 0624c33c28
commit fe052fd7c0
1 changed files with 13 additions and 5 deletions
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16
sources/reactphysics3d/collision/SeparatingAxisOBB.cpp
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@ -117,11 +117,13 @@ bool SeparatingAxisOBB::computeCollisionTest(const OBB* const obb1, const OBB* c
max1 = radius1; max1 = radius1;
min2 = center - radius2; min2 = center - radius2;
max2 = center + radius2; max2 = center + radius2;
/*
std::cout << "Speed : " << speed << std::endl; std::cout << "Speed : " << speed << std::endl;
std::cout << "min1 : " << min1 << std::endl; std::cout << "min1 : " << min1 << std::endl;
std::cout << "max1 : " << max1 << std::endl; std::cout << "max1 : " << max1 << std::endl;
std::cout << "min2 : " << min2 << std::endl; std::cout << "min2 : " << min2 << std::endl;
std::cout << "max2 : " << max2 << std::endl; std::cout << "max2 : " << max2 << std::endl;
*/
if(!computeIntervalsIntersectionTime(timeMax, speed, min1, max1, min2, max2, timeFirst, timeLast)) { if(!computeIntervalsIntersectionTime(timeMax, speed, min1, max1, min2, max2, timeFirst, timeLast)) {
// We have found a separation axis, therefore the two OBBs don't collide // We have found a separation axis, therefore the two OBBs don't collide
return false; return false;
@ -138,21 +140,25 @@ bool SeparatingAxisOBB::computeCollisionTest(const OBB* const obb1, const OBB* c
udc1[1] = obb1->getAxis(1).scalarProduct(boxDistance); udc1[1] = obb1->getAxis(1).scalarProduct(boxDistance);
udv1[1] = obb1->getAxis(1).scalarProduct(deltaVelocity); udv1[1] = obb1->getAxis(1).scalarProduct(deltaVelocity);
center = udc1[1]; center = udc1[1];
speed = udv1[1];
/*
std::cout << "Axis - X : " << obb1->getAxis(1).getX() << "Y : " << obb1->getAxis(1).getY() << "Z : " << obb1->getAxis(1).getZ() << std::endl; std::cout << "Axis - X : " << obb1->getAxis(1).getX() << "Y : " << obb1->getAxis(1).getY() << "Z : " << obb1->getAxis(1).getZ() << std::endl;
std::cout << "Distance - X : " << boxDistance.getX() << "Y : " << boxDistance.getY() << "Z : " << boxDistance.getZ() << std::endl; std::cout << "Distance - X : " << boxDistance.getX() << "Y : " << boxDistance.getY() << "Z : " << boxDistance.getZ() << std::endl;
std::cout << "Center : " << center << std::endl; std::cout << "Center : " << center << std::endl;
speed = udv1[1]; */
radius1 = obb1->getExtent(1); radius1 = obb1->getExtent(1);
radius2 = obb2->getExtent(0)*absC[1][0] + obb2->getExtent(1)*absC[1][1] + obb2->getExtent(2) * absC[1][2]; radius2 = obb2->getExtent(0)*absC[1][0] + obb2->getExtent(1)*absC[1][1] + obb2->getExtent(2) * absC[1][2];
min1 = -radius1; min1 = -radius1;
max1 = radius1; max1 = radius1;
min2 = center - radius2; min2 = center - radius2;
max2 = center + radius2; max2 = center + radius2;
/*
std::cout << "Speed : " << speed << std::endl; std::cout << "Speed : " << speed << std::endl;
std::cout << "min1 : " << min1 << std::endl; std::cout << "min1 : " << min1 << std::endl;
std::cout << "max1 : " << max1 << std::endl; std::cout << "max1 : " << max1 << std::endl;
std::cout << "min2 : " << min2 << std::endl; std::cout << "min2 : " << min2 << std::endl;
std::cout << "max2 : " << max2 << std::endl; std::cout << "max2 : " << max2 << std::endl;
*/
if(!computeIntervalsIntersectionTime(timeMax, speed, min1, max1, min2, max2, timeFirst, timeLast)) { if(!computeIntervalsIntersectionTime(timeMax, speed, min1, max1, min2, max2, timeFirst, timeLast)) {
// We have found a separation axis, therefore the two OBBs don't collide // We have found a separation axis, therefore the two OBBs don't collide
return false; return false;
@ -176,11 +182,13 @@ bool SeparatingAxisOBB::computeCollisionTest(const OBB* const obb1, const OBB* c
max1 = radius1; max1 = radius1;
min2 = center - radius2; min2 = center - radius2;
max2 = center + radius2; max2 = center + radius2;
/*
std::cout << "Speed : " << speed << std::endl; std::cout << "Speed : " << speed << std::endl;
std::cout << "min1 : " << min1 << std::endl; std::cout << "min1 : " << min1 << std::endl;
std::cout << "max1 : " << max1 << std::endl; std::cout << "max1 : " << max1 << std::endl;
std::cout << "min2 : " << min2 << std::endl; std::cout << "min2 : " << min2 << std::endl;
std::cout << "max2 : " << max2 << std::endl; std::cout << "max2 : " << max2 << std::endl;
*/
if(!computeIntervalsIntersectionTime(timeMax, speed, min1, max1, min2, max2, timeFirst, timeLast)) { if(!computeIntervalsIntersectionTime(timeMax, speed, min1, max1, min2, max2, timeFirst, timeLast)) {
// We have found a separation axis, therefore the two OBBs don't collide // We have found a separation axis, therefore the two OBBs don't collide
return false; return false;
@ -191,7 +199,7 @@ bool SeparatingAxisOBB::computeCollisionTest(const OBB* const obb1, const OBB* c
udv2[0] = obb2->getAxis(0).scalarProduct(deltaVelocity); udv2[0] = obb2->getAxis(0).scalarProduct(deltaVelocity);
center = udc2[0]; center = udc2[0];
speed = udv2[0]; speed = udv2[0];
radius1 = obb1->getExtent(0)*absC[0][0] + obb1->getExtent(1)*absC[1][0] + obb1->getExtent(2) * absC[1][0]; radius1 = obb1->getExtent(0)*absC[0][0] + obb1->getExtent(1)*absC[1][0] + obb1->getExtent(2) * absC[2][0];
radius2 = obb2->getExtent(0); radius2 = obb2->getExtent(0);
min1 = center - radius1; min1 = center - radius1;
max1 = center + radius1; max1 = center + radius1;
@ -207,7 +215,7 @@ bool SeparatingAxisOBB::computeCollisionTest(const OBB* const obb1, const OBB* c
udv2[1] = obb2->getAxis(1).scalarProduct(deltaVelocity); udv2[1] = obb2->getAxis(1).scalarProduct(deltaVelocity);
center = udc2[1]; center = udc2[1];
speed = udv2[1]; speed = udv2[1];
radius1 = obb1->getExtent(0)*absC[0][1] + obb1->getExtent(1)*absC[1][1] + obb1->getExtent(2) * absC[1][1]; radius1 = obb1->getExtent(0)*absC[0][1] + obb1->getExtent(1)*absC[1][1] + obb1->getExtent(2) * absC[2][1];
radius2 = obb2->getExtent(1); radius2 = obb2->getExtent(1);
min1 = center - radius1; min1 = center - radius1;
max1 = center + radius1; max1 = center + radius1;
@ -223,7 +231,7 @@ bool SeparatingAxisOBB::computeCollisionTest(const OBB* const obb1, const OBB* c
udv2[2] = obb2->getAxis(2).scalarProduct(deltaVelocity); udv2[2] = obb2->getAxis(2).scalarProduct(deltaVelocity);
center = udc2[2]; center = udc2[2];
speed = udv2[2]; speed = udv2[2];
radius1 = obb1->getExtent(0)*absC[0][2] + obb1->getExtent(1)*absC[1][2] + obb1->getExtent(2) * absC[1][2]; radius1 = obb1->getExtent(0)*absC[0][2] + obb1->getExtent(1)*absC[1][2] + obb1->getExtent(2)*absC[2][2];
radius2 = obb2->getExtent(2); radius2 = obb2->getExtent(2);
min1 = center - radius1; min1 = center - radius1;
max1 = center + radius1; max1 = center + radius1;