From 27b6affd6ab51a67d552c7f7fbbc545a7a8d68cb Mon Sep 17 00:00:00 2001 From: Dander7BD Date: Thu, 16 Jan 2014 11:28:07 +0100 Subject: [PATCH] BoxVsBox pointOfContact fix it was not translated --- Code/OysterPhysics3D/OysterCollision3D.cpp | 31 ++++++++++++---------- 1 file changed, 17 insertions(+), 14 deletions(-) diff --git a/Code/OysterPhysics3D/OysterCollision3D.cpp b/Code/OysterPhysics3D/OysterCollision3D.cpp index 3ef44974..169b5add 100644 --- a/Code/OysterPhysics3D/OysterCollision3D.cpp +++ b/Code/OysterPhysics3D/OysterCollision3D.cpp @@ -204,7 +204,7 @@ namespace Oyster { namespace Collision3D { namespace Utility return true; } - bool SeperatingAxisTest_AxisAlignedVsTransformedBox( const Float4 &boundingOffsetA, const Float4 &boundingOffsetB, const Float4x4 &rotationB, const Float4 &worldOffset, Float4 &worldPointOfContact ) + bool SeperatingAxisTest_AxisAlignedVsTransformedBox( const Float4 &boundingOffsetA, const Float4 &boundingOffsetB, const Float4x4 &rotationB, const Float4 &worldOffset, Float4 &localPointOfContact ) { // by Dan Andersson /***************************************************************** @@ -241,7 +241,7 @@ namespace Oyster { namespace Collision3D { namespace Utility { // no intersection return false; } - worldPointOfContact = s * ( centerSeperation * eA / edgeSeperation ); + localPointOfContact = s * ( centerSeperation * eA / edgeSeperation ); s = Float4::standard_unit_y; centerSeperation = t.Dot(s); @@ -251,7 +251,7 @@ namespace Oyster { namespace Collision3D { namespace Utility { // no intersection return false; } - worldPointOfContact += s * ( centerSeperation * eA / edgeSeperation ); + localPointOfContact += s * ( centerSeperation * eA / edgeSeperation ); s = Float4::standard_unit_z; centerSeperation = t.Dot(s); @@ -261,7 +261,7 @@ namespace Oyster { namespace Collision3D { namespace Utility { // no intersection return false; } - worldPointOfContact += s * ( centerSeperation * eA / edgeSeperation ); + localPointOfContact += s * ( centerSeperation * eA / edgeSeperation ); s = rotationB.v[0]; centerSeperation = t.Dot(s); @@ -271,7 +271,7 @@ namespace Oyster { namespace Collision3D { namespace Utility { // no intersection return false; } - worldPointOfContact += s * ( centerSeperation * eA / edgeSeperation ); + localPointOfContact += s * ( centerSeperation * eA / edgeSeperation ); s = rotationB.v[1]; centerSeperation = t.Dot(s); @@ -281,7 +281,7 @@ namespace Oyster { namespace Collision3D { namespace Utility { // no intersection return false; } - worldPointOfContact += s * ( centerSeperation * eA / edgeSeperation ); + localPointOfContact += s * ( centerSeperation * eA / edgeSeperation ); s = rotationB.v[2]; centerSeperation = t.Dot(s); @@ -291,7 +291,7 @@ namespace Oyster { namespace Collision3D { namespace Utility { // no intersection return false; } - worldPointOfContact += s * ( centerSeperation * eA / edgeSeperation ); // enough point of contact data gathered for approximative result. + localPointOfContact += s * ( centerSeperation * eA / edgeSeperation ); // enough point of contact data gathered for approximative result. s = Float4( Float3::standard_unit_x.Cross(rotationB.v[0].xyz), 0.0f ); centerSeperation = t.Dot(s); @@ -374,7 +374,7 @@ namespace Oyster { namespace Collision3D { namespace Utility return false; } - worldPointOfContact *= 0.5f; + localPointOfContact *= 0.5f; return true; } } @@ -821,10 +821,11 @@ namespace Oyster { namespace Collision3D { namespace Utility Float4 alignedOffsetBoundaries = (boxB.maxVertex - boxB.minVertex) * 0.5f, offset = boxA.center - Average( boxB.maxVertex, boxB.minVertex ); - Float4 pointOfContact; - if( Private::SeperatingAxisTest_AxisAlignedVsTransformedBox( alignedOffsetBoundaries, boxA.boundingOffset, boxA.rotation, offset, pointOfContact ) ) + Float4 localPointOfContact; + if( Private::SeperatingAxisTest_AxisAlignedVsTransformedBox( alignedOffsetBoundaries, boxA.boundingOffset, boxA.rotation, offset, localPointOfContact ) ) { - worldPointOfContact = pointOfContact.xyz; + worldPointOfContact = localPointOfContact + boxA.center; + worldPointOfContact.w = 1.0f; return true; } else return false; @@ -843,10 +844,12 @@ namespace Oyster { namespace Collision3D { namespace Utility Float4x4 rotationB = TransformMatrix( InverseRotationMatrix(boxA.rotation), boxB.rotation ); Float4 posB = boxB.center - boxA.center; - Float4 pointOfContact; - if( Private::SeperatingAxisTest_AxisAlignedVsTransformedBox( boxA.boundingOffset, boxB.boundingOffset, rotationB, posB, pointOfContact ) ) + Float4 localPointOfContact; + if( Private::SeperatingAxisTest_AxisAlignedVsTransformedBox( boxA.boundingOffset, boxB.boundingOffset, rotationB, posB, localPointOfContact ) ) { - worldPointOfContact = TransformVector( boxA.rotation, pointOfContact, pointOfContact ).xyz; + worldPointOfContact = TransformVector( boxA.rotation, localPointOfContact, localPointOfContact ); + worldPointOfContact += boxA.center; + worldPointOfContact.w = 1.0f; return true; } else return false;