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bugfix

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This commit is contained in:
Irlan
2018-10-06 20:45:41 -03:00
parent 17cf837712
commit cd4afc58b0
1 changed files with 49 additions and 15 deletions
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64
src/bounce/dynamics/shapes/hull_shape.cpp
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@ -17,8 +17,10 @@
*/
#include <bounce/dynamics/shapes/hull_shape.h>
#include <bounce/collision/shapes/hull.h>
#include <bounce/dynamics/time_step.h>
#include <bounce/dynamics/contacts/collide/collide.h>
#include <bounce/collision/shapes/hull.h>
#include <bounce/collision/gjk/gjk.h>
b3HullShape::b3HullShape()
{
@ -184,10 +186,45 @@ bool b3HullShape::TestSphere(const b3Sphere& sphere, const b3Transform& xf) cons
bool b3HullShape::TestSphere(b3TestSphereOutput* output, const b3Sphere& sphere, const b3Transform& xf) const
{
// Perform computations in the local space of the first hull.
b3Vec3 support = b3MulT(xf, sphere.vertex);
float32 radius = m_radius + sphere.radius;
b3Transform xf1 = xf;
b3Transform xf2 = b3Transform_identity;
b3ShapeGJKProxy proxy1(this, 0);
b3GJKProxy proxy2;
proxy2.vertexCount = 1;
proxy2.vertexBuffer[0] = sphere.vertex;
proxy2.vertices = proxy2.vertexBuffer;
proxy2.radius = sphere.radius;
b3GJKOutput gjk = b3GJK(xf1, proxy1, xf2, proxy2);
float32 r1 = proxy1.radius;
float32 r2 = proxy2.radius;
float32 totalRadius = r1 + r2;
if (gjk.distance > totalRadius)
{
return false;
}
if (gjk.distance > 0.0f)
{
b3Vec3 c1 = gjk.point1;
b3Vec3 c2 = gjk.point2;
b3Vec3 n = (c2 - c1) / gjk.distance;
output->point = c1;
output->normal = n;
output->separation = gjk.distance - totalRadius;
return true;
}
// Perform computations in the local space of the first hull.
b3Vec3 support = b3MulT(xf1, sphere.vertex);
u32 maxIndex = ~0;
float32 maxSeparation = -B3_MAX_FLOAT;
@ -196,7 +233,7 @@ bool b3HullShape::TestSphere(b3TestSphereOutput* output, const b3Sphere& sphere,
b3Plane plane = m_hull->GetPlane(i);
float32 separation = b3Distance(support, plane);
if (separation > radius)
if (separation > totalRadius)
{
return false;
}
@ -208,17 +245,14 @@ bool b3HullShape::TestSphere(b3TestSphereOutput* output, const b3Sphere& sphere,
}
}
if (maxIndex != ~0)
{
b3Plane plane = b3Mul(xf, m_hull->GetPlane(maxIndex));
output->point = b3ClosestPointOnPlane(sphere.vertex, plane);
output->separation = maxSeparation - radius;
output->normal = plane.normal;
return true;
}
B3_ASSERT(maxIndex != ~0);
b3Plane plane = b3Mul(xf1, m_hull->GetPlane(maxIndex));
B3_ASSERT(false);
return false;
output->point = b3ClosestPointOnPlane(sphere.vertex, plane);
output->separation = maxSeparation - totalRadius;
output->normal = plane.normal;
return true;
}
bool b3HullShape::RayCast(b3RayCastOutput* output, const b3RayCastInput& input, const b3Transform& xf) const