852b923c21
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@391 92aac97c-a6ce-11dd-a772-7fcde58d38e6
421 lines
22 KiB
C++
421 lines
22 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010 Daniel Chappuis *
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*********************************************************************************
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* *
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* Permission is hereby granted, free of charge, to any person obtaining a copy *
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* of this software and associated documentation files (the "Software"), to deal *
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* in the Software without restriction, including without limitation the rights *
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell *
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* copies of the Software, and to permit persons to whom the Software is *
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* furnished to do so, subject to the following conditions: *
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* *
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* The above copyright notice and this permission notice shall be included in *
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* all copies or substantial portions of the Software. *
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* *
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, *
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE *
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER *
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, *
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN *
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* THE SOFTWARE. *
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********************************************************************************/
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// Libraries
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#include "SATAlgorithm.h"
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#include "../body/OBB.h"
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#include "../body/RigidBody.h"
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#include "../constraint/Contact.h"
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#include <algorithm>
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#include <cfloat>
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#include <cmath>
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#include <cassert>
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// We want to use the ReactPhysics3D namespace
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using namespace reactphysics3d;
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// Constructor
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SATAlgorithm::SATAlgorithm() {
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}
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// Destructor
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SATAlgorithm::~SATAlgorithm() {
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}
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// Return true and compute a contact info if the two bounding volume collide.
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// The method returns false if there is no collision between the two bounding volumes.
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bool SATAlgorithm::testCollision(const BoundingVolume* const boundingVolume1, const BoundingVolume* const boundingVolume2, ContactInfo*& contactInfo) {
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assert(boundingVolume1 != boundingVolume2);
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// If the two bounding volumes are OBB
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//const OBB* const obb1 = dynamic_cast<const OBB* const>(boundingVolume1);
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//const OBB* const obb2 = dynamic_cast<const OBB* const>(boundingVolume2);
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const OBB* const obb1 = dynamic_cast<const OBB* const>(boundingVolume1);
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const OBB* const obb2 = dynamic_cast<const OBB* const>(boundingVolume2);
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// If the two bounding volumes are OBB
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if (obb1 && obb2) {
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// Compute the collision test between two OBB
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return computeCollisionTest(obb1, obb2, contactInfo);
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}
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else {
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return false;
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}
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}
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// This method returns true and computes a contact info if the two OBB intersect.
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// This method implements the separating algorithm between two OBBs. The goal of this method is to test if the
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// two OBBs intersect or not. If they intersect we report a contact info and the method returns true. If
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// they don't intersect, the method returns false. The separation axis that have to be tested for two
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// OBB are the six face normals (3 for each OBB) and the nine vectors V = Ai x Bj where Ai is the ith face normal
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// vector of OBB 1 and Bj is the jth face normal vector of OBB 2. We will use the notation Ai for the ith face
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// normal of OBB 1 and Bj for the jth face normal of OBB 2.
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bool SATAlgorithm::computeCollisionTest(const OBB* const obb1, const OBB* const obb2, ContactInfo*& contactInfo) const {
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double center; // Center of a projection interval
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double radius1; // Radius of projection interval [min1, max1]
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double radius2; // Radius of projection interval [min2, max2]
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double min1; // Minimum of interval 1
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double max1; // Maximum of interval 1
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double min2; // Minimm of interval 2
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double max2; // Maximum of interval 2
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Vector3D normal; // Contact normal (correspond to the separation axis with the smallest positive penetration depth)
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// The contact normal point out of OBB1 toward OBB2
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double minPenetrationDepth = DBL_MAX; // Minimum penetration depth detected among all separated axis
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const double cutoff = 0.99; // Cutoff for cosine of angles between box axes
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bool existsParallelPair = false; // True if there exists two face normals that are parallel.
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// This is used because if a parallel pair exists, it is sufficient
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// to test only the face normals of the OBBs for separation. Two nearly
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// parallel faces can lead to all face normal tests reporting no separation
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// along those directions. The cross product directions are tested next, but
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// Ai x Bj is nearly the zero vector and can cause a report that the two OBBs
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// are not intersecting when in fact they are.
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double c[3][3]; // c[i][j] = DotProduct(obb1.Ai, obb2.Bj)
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double absC[3][3]; // absC[i][j] = abs(DotProduct(obb1.Ai, obb2.Bj))
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double udc1[3]; // DotProduct(obb1.Ai, obb2.center - obb1.center)
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double udc2[3]; // DotProduct(obb2.Ai, obb2.center - obb1.center)
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Vector3D boxDistance = obb2->getCenter() - obb1->getCenter(); // Vector between the centers of the OBBs
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// Axis A0
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for (int i=0; i<3; ++i) {
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c[0][i] = obb1->getAxis(0).scalarProduct(obb2->getAxis(i));
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absC[0][i] = fabs(c[0][i]);
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if (absC[0][i] > cutoff) {
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existsParallelPair = true;
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}
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}
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udc1[0] = obb1->getAxis(0).scalarProduct(boxDistance);
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center = udc1[0];
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radius1 = obb1->getExtent(0);
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radius2 = obb2->getExtent(0)*absC[0][0] + obb2->getExtent(1)*absC[0][1] + obb2->getExtent(2) * absC[0][2];
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min1 = -radius1;
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max1 = radius1;
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min2 = center - radius2;
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max2 = center + radius2;
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double penetrationDepth = computePenetrationDepth(min1, max1, min2, max2);
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if (penetrationDepth < 0) { // We have found a separation axis, therefore the two OBBs don't collide
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return false;
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}
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else if (penetrationDepth < minPenetrationDepth) { // Interval 1 and 2 overlap with a smaller penetration depth on this axis
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minPenetrationDepth = penetrationDepth; // Update the minimum penetration depth
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normal = computeContactNormal(obb1->getAxis(0), boxDistance); // Compute the contact normal with the correct sign
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}
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// Axis A1
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for (int i=0; i<3; ++i) {
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c[1][i] = obb1->getAxis(1).scalarProduct(obb2->getAxis(i));
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absC[1][i] = fabs(c[1][i]);
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if (absC[1][i] > cutoff) {
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existsParallelPair = true;
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}
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}
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udc1[1] = obb1->getAxis(1).scalarProduct(boxDistance);
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center = udc1[1];
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radius1 = obb1->getExtent(1);
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radius2 = obb2->getExtent(0)*absC[1][0] + obb2->getExtent(1)*absC[1][1] + obb2->getExtent(2) * absC[1][2];
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min1 = -radius1;
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max1 = radius1;
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min2 = center - radius2;
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max2 = center + radius2;
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penetrationDepth = computePenetrationDepth(min1, max1, min2, max2);
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if (penetrationDepth < 0) { // We have found a separation axis, therefore the two OBBs don't collide
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return false;
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}
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else if (penetrationDepth < minPenetrationDepth) { // Interval 1 and 2 overlap with a smaller penetration depth on this axis
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minPenetrationDepth = penetrationDepth; // Update the minimum penetration depth
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normal = computeContactNormal(obb1->getAxis(1), boxDistance); // Compute the contact normal with the correct sign
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}
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// Axis A2
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for (int i=0; i<3; ++i) {
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c[2][i] = obb1->getAxis(2).scalarProduct(obb2->getAxis(i));
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absC[2][i] = fabs(c[2][i]);
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if (absC[2][i] > cutoff) {
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existsParallelPair = true;
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}
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}
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udc1[2] = obb1->getAxis(2).scalarProduct(boxDistance);
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center = udc1[2];
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radius1 = obb1->getExtent(2);
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radius2 = obb2->getExtent(0)*absC[2][0] + obb2->getExtent(1)*absC[2][1] + obb2->getExtent(2)*absC[2][2];
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min1 = -radius1;
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max1 = radius1;
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min2 = center - radius2;
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max2 = center + radius2;
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penetrationDepth = computePenetrationDepth(min1, max1, min2, max2);
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if (penetrationDepth < 0) { // We have found a separation axis, therefore the two OBBs don't collide
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return false;
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}
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else if (penetrationDepth < minPenetrationDepth) { // Interval 1 and 2 overlap with a smaller penetration depth on this axis
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minPenetrationDepth = penetrationDepth; // Update the minimum penetration depth
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}
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// Axis B0
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udc2[0] = obb2->getAxis(0).scalarProduct(boxDistance);
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center = udc2[0];
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radius1 = obb1->getExtent(0)*absC[0][0] + obb1->getExtent(1)*absC[1][0] + obb1->getExtent(2) * absC[2][0];
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radius2 = obb2->getExtent(0);
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min1 = -radius1;
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max1 = radius1;
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min2 = center - radius2;
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max2 = center + radius2;
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penetrationDepth = computePenetrationDepth(min1, max1, min2, max2);
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if (penetrationDepth < 0) { // We have found a separation axis, therefore the two OBBs don't collide
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return false;
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}
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else if (penetrationDepth < minPenetrationDepth) { // Interval 1 and 2 overlap with a smaller penetration depth on this axis
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minPenetrationDepth = penetrationDepth; // Update the minimum penetration depth
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normal = computeContactNormal(obb2->getAxis(0), boxDistance); // Compute the contact normal with the correct sign
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}
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// Axis B1
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udc2[1] = obb2->getAxis(1).scalarProduct(boxDistance);
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center = udc2[1];
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radius1 = obb1->getExtent(0)*absC[0][1] + obb1->getExtent(1)*absC[1][1] + obb1->getExtent(2) * absC[2][1];
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radius2 = obb2->getExtent(1);
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min1 = - radius1;
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max1 = radius1;
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min2 = center - radius2;
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max2 = center + radius2;
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penetrationDepth = computePenetrationDepth(min1, max1, min2, max2);
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if (penetrationDepth < 0) { // We have found a separation axis, therefore the two OBBs don't collide
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return false;
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}
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else if (penetrationDepth < minPenetrationDepth) { // Interval 1 and 2 overlap with a smaller penetration depth on this axis
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minPenetrationDepth = penetrationDepth; // Update the minimum penetration depth
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normal = computeContactNormal(obb2->getAxis(1), boxDistance); // Compute the contact normal with the correct sign
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}
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// Axis B2
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udc2[2] = obb2->getAxis(2).scalarProduct(boxDistance);
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center = udc2[2];
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radius1 = obb1->getExtent(0)*absC[0][2] + obb1->getExtent(1)*absC[1][2] + obb1->getExtent(2)*absC[2][2];
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radius2 = obb2->getExtent(2);
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min1 = - radius1;
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max1 = radius1;
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min2 = center - radius2;
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max2 = center + radius2;
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penetrationDepth = computePenetrationDepth(min1, max1, min2, max2);
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if (penetrationDepth < 0) { // We have found a separation axis, therefore the two OBBs don't collide
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return false;
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}
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else if (penetrationDepth < minPenetrationDepth) { // Interval 1 and 2 overlap with a smaller penetration depth on this axis
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minPenetrationDepth = penetrationDepth; // Update the minimum penetration depth
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normal = computeContactNormal(obb2->getAxis(2), boxDistance); // Compute the contact normal with the correct sign
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}
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// If there exists a parallel pair of face normals
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if (existsParallelPair) {
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// There exists a parallel pair of face normals and we have already checked all the face
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// normals for separation. Therefore the OBBs must intersect
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// Compute the contact info
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contactInfo = new ContactInfo(obb1, obb2, normal.getUnit(), minPenetrationDepth);
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return true;
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}
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// Axis A0 x B0
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center = udc1[2] * c[1][0] - udc1[1] * c[2][0];
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radius1 = obb1->getExtent(1) * absC[2][0] + obb1->getExtent(2) * absC[1][0];
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radius2 = obb2->getExtent(1) * absC[0][2] + obb2->getExtent(2) * absC[0][1];
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min1 = -radius1;
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max1 = radius1;
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min2 = center - radius2;
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max2 = center + radius2;
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penetrationDepth = computePenetrationDepth(min1, max1, min2, max2);
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if (penetrationDepth < 0) { // We have found a separation axis, therefore the two OBBs don't collide
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return false;
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}
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else if (penetrationDepth < minPenetrationDepth) { // Interval 1 and 2 overlap with a smaller penetration depth on this axis
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minPenetrationDepth = penetrationDepth; // Update the minimum penetration depth
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normal = computeContactNormal(obb1->getAxis(0).crossProduct(obb2->getAxis(0)), boxDistance); // Compute the contact normal with the correct sign
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}
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// Axis A0 x B1
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center = udc1[2] * c[1][1] - udc1[1] * c[2][1];
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radius1 = obb1->getExtent(1) * absC[2][1] + obb1->getExtent(2) * absC[1][1];
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radius2 = obb2->getExtent(0) * absC[0][2] + obb2->getExtent(2) * absC[0][0];
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min1 = -radius1;
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max1 = radius1;
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min2 = center - radius2;
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max2 = center + radius2;
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penetrationDepth = computePenetrationDepth(min1, max1, min2, max2);
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if (penetrationDepth < 0) { // We have found a separation axis, therefore the two OBBs don't collide
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return false;
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}
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else if (penetrationDepth < minPenetrationDepth) { // Interval 1 and 2 overlap with a smaller penetration depth on this axis
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minPenetrationDepth = penetrationDepth; // Update the minimum penetration depth
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normal = computeContactNormal(obb1->getAxis(0).crossProduct(obb2->getAxis(1)), boxDistance); // Compute the contact normal with the correct sign
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}
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// Axis A0 x B2
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center = udc1[2] * c[1][2] - udc1[1] * c[2][2];
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radius1 = obb1->getExtent(1) * absC[2][2] + obb1->getExtent(2) * absC[1][2];
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radius2 = obb2->getExtent(0) * absC[0][1] + obb2->getExtent(1) * absC[0][0];
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min1 = -radius1;
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max1 = radius1;
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min2 = center - radius2;
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max2 = center + radius2;
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penetrationDepth = computePenetrationDepth(min1, max1, min2, max2);
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if (penetrationDepth < 0) { // We have found a separation axis, therefore the two OBBs don't collide
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return false;
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}
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else if (penetrationDepth < minPenetrationDepth) { // Interval 1 and 2 overlap with a smaller penetration depth on this axis
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minPenetrationDepth = penetrationDepth; // Update the minimum penetration depth
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normal = computeContactNormal(obb1->getAxis(0).crossProduct(obb2->getAxis(2)), boxDistance); // Compute the contact normal with the correct sign
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}
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// Axis A1 x B0
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center = udc1[0] * c[2][0] - udc1[2] * c[0][0];
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radius1 = obb1->getExtent(0) * absC[2][0] + obb1->getExtent(2) * absC[0][0];
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radius2 = obb2->getExtent(1) * absC[1][2] + obb2->getExtent(2) * absC[1][1];
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min1 = -radius1;
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max1 = radius1;
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min2 = center - radius2;
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max2 = center + radius2;
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penetrationDepth = computePenetrationDepth(min1, max1, min2, max2);
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if (penetrationDepth < 0) { // We have found a separation axis, therefore the two OBBs don't collide
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return false;
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}
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else if (penetrationDepth < minPenetrationDepth) { // Interval 1 and 2 overlap with a smaller penetration depth on this axis
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minPenetrationDepth = penetrationDepth; // Update the minimum penetration depth
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normal = computeContactNormal(obb1->getAxis(1).crossProduct(obb2->getAxis(0)), boxDistance); // Compute the contact normal with the correct sign
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}
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// Axis A1 x B1
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center = udc1[0] * c[2][1] - udc1[2] * c[0][1];
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radius1 = obb1->getExtent(0) * absC[2][1] + obb1->getExtent(2) * absC[0][1];
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radius2 = obb2->getExtent(0) * absC[1][2] + obb2->getExtent(2) * absC[1][0];
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min1 = -radius1;
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max1 = radius1;
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min2 = center - radius2;
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max2 = center + radius2;
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penetrationDepth = computePenetrationDepth(min1, max1, min2, max2);
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if (penetrationDepth < 0) { // We have found a separation axis, therefore the two OBBs don't collide
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return false;
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}
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else if (penetrationDepth < minPenetrationDepth) { // Interval 1 and 2 overlap with a smaller penetration depth on this axis
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minPenetrationDepth = penetrationDepth; // Update the minimum penetration depth
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normal = computeContactNormal(obb1->getAxis(1).crossProduct(obb2->getAxis(1)), boxDistance); // Compute the contact normal with the correct sign
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}
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// Axis A1 x B2
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center = udc1[0] * c[2][2] - udc1[2] * c[0][2];
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radius1 = obb1->getExtent(0) * absC[2][2] + obb1->getExtent(2) * absC[0][2];
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radius2 = obb2->getExtent(0) * absC[1][1] + obb2->getExtent(1) * absC[1][0];
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min1 = -radius1;
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max1 = radius1;
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min2 = center - radius2;
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max2 = center + radius2;
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penetrationDepth = computePenetrationDepth(min1, max1, min2, max2);
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if (penetrationDepth < 0) { // We have found a separation axis, therefore the two OBBs don't collide
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return false;
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}
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else if (penetrationDepth < minPenetrationDepth) { // Interval 1 and 2 overlap with a smaller penetration depth on this axis
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minPenetrationDepth = penetrationDepth; // Update the minimum penetration depth
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normal = computeContactNormal(obb1->getAxis(1).crossProduct(obb2->getAxis(2)), boxDistance); // Compute the contact normal with the correct sign
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}
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// Axis A2 x B0
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center = udc1[1] * c[0][0] - udc1[0] * c[1][0];
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radius1 = obb1->getExtent(0) * absC[1][0] + obb1->getExtent(1) * absC[0][0];
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radius2 = obb2->getExtent(1) * absC[2][2] + obb2->getExtent(2) * absC[2][1];
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min1 = -radius1;
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max1 = radius1;
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min2 = center - radius2;
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max2 = center + radius2;
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penetrationDepth = computePenetrationDepth(min1, max1, min2, max2);
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if (penetrationDepth < 0) { // We have found a separation axis, therefore the two OBBs don't collide
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return false;
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}
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else if (penetrationDepth < minPenetrationDepth) { // Interval 1 and 2 overlap with a smaller penetration depth on this axis
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minPenetrationDepth = penetrationDepth; // Update the minimum penetration depth
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normal = computeContactNormal(obb1->getAxis(2).crossProduct(obb2->getAxis(0)), boxDistance); // Compute the contact normal with the correct sign
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}
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// Axis A2 x B1
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center = udc1[1] * c[0][1] - udc1[0] * c[1][1];
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radius1 = obb1->getExtent(0) * absC[1][1] + obb1->getExtent(1) * absC[0][1];
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radius2 = obb2->getExtent(0) * absC[2][2] + obb2->getExtent(2) * absC[2][0];
|
||
min1 = -radius1;
|
||
max1 = radius1;
|
||
min2 = center - radius2;
|
||
max2 = center + radius2;
|
||
penetrationDepth = computePenetrationDepth(min1, max1, min2, max2);
|
||
if (penetrationDepth < 0) { // We have found a separation axis, therefore the two OBBs don't collide
|
||
return false;
|
||
}
|
||
else if (penetrationDepth < minPenetrationDepth) { // Interval 1 and 2 overlap with a smaller penetration depth on this axis
|
||
minPenetrationDepth = penetrationDepth; // Update the minimum penetration depth
|
||
normal = computeContactNormal(obb1->getAxis(2).crossProduct(obb2->getAxis(1)), boxDistance); // Compute the contact normal with the correct sign
|
||
}
|
||
|
||
// Axis A2 x B2
|
||
center = udc1[1] * c[0][2] - udc1[0] * c[1][2];
|
||
radius1 = obb1->getExtent(0) * absC[1][2] + obb1->getExtent(1) * absC[0][2];
|
||
radius2 = obb2->getExtent(0) * absC[2][1] + obb2->getExtent(1) * absC[2][0];
|
||
min1 = -radius1;
|
||
max1 = radius1;
|
||
min2 = center - radius2;
|
||
max2 = center + radius2;
|
||
penetrationDepth = computePenetrationDepth(min1, max1, min2, max2);
|
||
if (penetrationDepth < 0) { // We have found a separation axis, therefore the two OBBs don't collide
|
||
return false;
|
||
}
|
||
else if (penetrationDepth < minPenetrationDepth) { // Interval 1 and 2 overlap with a smaller penetration depth on this axis
|
||
minPenetrationDepth = penetrationDepth; // Update the minimum penetration depth
|
||
normal = computeContactNormal(obb1->getAxis(2).crossProduct(obb2->getAxis(2)), boxDistance); // Compute the contact normal with the correct sign
|
||
}
|
||
|
||
// Compute the contact info
|
||
contactInfo = new ContactInfo(obb1, obb2, normal.getUnit(), minPenetrationDepth);
|
||
|
||
return true;
|
||
}
|
||
|
||
// This method computes and returns the penetration depth between two intervals. This method returns the computed
|
||
// penetration depth (note that it could return a negative penetration depth if the intervals are separated.
|
||
double SATAlgorithm::computePenetrationDepth(double min1, double max1, double min2, double max2) const {
|
||
|
||
// Compute the length of both intervals
|
||
double lengthInterval1 = max1 - min1;
|
||
double lengthInterval2 = max2 - min2;
|
||
|
||
// Compute the total length of both intervals
|
||
double minExtreme = std::min(min1, min2);
|
||
double maxExtreme = std::max(max1, max2);
|
||
double lengthBothIntervals = maxExtreme - minExtreme;
|
||
|
||
// Compute the current penetration depth
|
||
return (lengthInterval1 + lengthInterval2) - lengthBothIntervals;
|
||
}
|