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perform GJK calculations in local space, transform added contact points back into worldspace.

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Perhaps rethink of adding contact points in local place (might hit complication with compounds)
This commit is contained in:
ejcoumans
2006-11-07 20:34:52 +00:00
parent c3ed55057c
commit 2a1546764e
1 changed files with 9 additions and 4 deletions
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13
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
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@@ -46,6 +46,11 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
btScalar distance=0.f;
btVector3 normalInB(0.f,0.f,0.f);
btVector3 pointOnA,pointOnB;
btTransform localTransA = input.m_transformA;
btTransform localTransB = input.m_transformB;
btVector3 positionOffset = (localTransA.getOrigin() + localTransB.getOrigin()) * 0.5f;
localTransA.getOrigin() -= positionOffset;
localTransB.getOrigin() -= positionOffset;
float marginA = m_minkowskiA->getMargin();
float marginB = m_minkowskiB->getMargin();
@@ -82,8 +87,8 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
btVector3 pInA = m_minkowskiA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
btVector3 qInB = m_minkowskiB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
btPoint3 pWorld = input.m_transformA(pInA);
btPoint3 qWorld = input.m_transformB(qInB);
btPoint3 pWorld = localTransA(pInA);
btPoint3 qWorld = localTransB(qInB);
btVector3 w = pWorld - qWorld;
delta = m_cachedSeparatingAxis.dot(w);
@@ -192,7 +197,7 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
isValid = m_penetrationDepthSolver->calcPenDepth(
*m_simplexSolver,
m_minkowskiA,m_minkowskiB,
input.m_transformA,input.m_transformB,
localTransA,localTransB,
m_cachedSeparatingAxis, pointOnA, pointOnB,
debugDraw
);
@@ -223,7 +228,7 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
output.addContactPoint(
normalInB,
pointOnB,
pointOnB+positionOffset,
distance);
//printf("gjk add:%f",distance);
}