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rename a function, update a test

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Irlan
2018-10-05 11:57:23 -03:00
parent 8030c3458a
commit 6b95a04a09
3 changed files with 31 additions and 30 deletions
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24
src/bounce/collision/gjk/gjk.cpp
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@@ -854,7 +854,7 @@ b3GJKOutput b3GJK(const b3Transform& xf1, const b3GJKProxy& proxy1,
// Brian Mirtich
// "Conservative Advancement"
bool b3GJKRayCast(b3GJKRayCastOutput* output,
bool b3GJKShapeCast(b3GJKShapeCastOutput* output,
const b3Transform& xf1, const b3GJKProxy& proxy1,
const b3Transform& xf2, const b3GJKProxy& proxy2, const b3Vec3& translation2)
{
@@ -960,7 +960,7 @@ bool b3GJKRayCast(b3GJKRayCastOutput* output,
// Gino van der Bergen
// "Smooth Mesh Contacts with GJK"
// Game Physics Pearls 2010, page 99
bool b3GJKShapeCast(b3GJKRayCastOutput* output,
bool b3GJKShapeCastCSO(b3GJKShapeCastOutput* output,
const b3Transform& xf1, const b3GJKProxy& proxy1,
const b3Transform& xf2, const b3GJKProxy& proxy2, const b3Vec3& translation2)
{
@@ -1032,14 +1032,6 @@ bool b3GJKShapeCast(b3GJKRayCastOutput* output,
}
}
// Copy simplex so we can identify duplicates.
saveCount = simplex.m_count;
for (u32 i = 0; i < saveCount; ++i)
{
save1[i] = vertices[i].index1;
save2[i] = vertices[i].index2;
}
// Unite p - s to simplex
b3Vec3 s = t * r;
@@ -1075,6 +1067,14 @@ bool b3GJKShapeCast(b3GJKRayCastOutput* output,
maxTolerance = b3Max(maxTolerance, b3LengthSquared(vertices[i].point));
}
// Copy simplex so we can identify duplicates.
saveCount = simplex.m_count;
for (u32 i = 0; i < saveCount; ++i)
{
save1[i] = vertices[i].index1;
save2[i] = vertices[i].index2;
}
// Sub-solve
const b3Vec3 origin = b3Vec3_zero;
@@ -1098,9 +1098,7 @@ bool b3GJKShapeCast(b3GJKRayCastOutput* output,
if (simplex.m_count == 4)
{
// Overlap
output->iterations = iter;
return false;
break;
}
v = simplex.GetClosestPoint();