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Updated formula for BoxVsBox point of contact 

good enough approximation. Tested
This commit is contained in:
Dander7BD 2013-12-17 12:09:20 +01:00
parent ec6cd72f3c
commit a03568e19e
1 changed files with 35 additions and 44 deletions
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79
Code/OysterPhysics3D/OysterCollision3D.cpp
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@ -224,165 +224,156 @@ namespace Oyster { namespace Collision3D { namespace Utility
/***************************************************************** /*****************************************************************
* Distance Alghorithm based on .. something Dan came up with * Distance Alghorithm based on .. something Dan came up with
* pi = si * ( |t dot si| * (hA dot |si|) / (hA dot |si| + hB dot |si * RB|) ) * pi = si * ( (t dot si) * (hA dot |si|) / (hA dot |si| + hB dot |si * RB|) )
* p = point of contact * p = estimated point of contact
* = ( p1 + p2 + ... + p13 + p14 ) / 5 * = ( p1 + p2 + ... + p5 + p6 ) / 2
*****************************************************************/ *****************************************************************/
Float4 t = Float4( worldOffset, 0.0f ), Float4 t = Float4( worldOffset, 0.0f ),
s = Float4::standard_unit_x, s = Float4::standard_unit_x,
hA = Float4( boundingOffsetA, 0.0f ), hA = Float4( boundingOffsetA, 0.0f ),
hB = Float4( boundingOffsetB, 0.0f ); hB = Float4( boundingOffsetB, 0.0f );
Float centerSeperation = Abs( t.Dot(s) ), Float centerSeperation = t.Dot(s),
eA = hA.Dot( Abs(s) ), eA = hA.Dot( Abs(s) ),
edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); edgeSeperation = eA + hB.Dot( Abs(s * rotationB) );
if( centerSeperation > edgeSeperation ) if( Abs(centerSeperation) > edgeSeperation )
{ // no intersection { // no intersection
return false; return false;
} }
Float4 sumPoints = s * ( centerSeperation * eA / edgeSeperation ); Float4 sumPoints = s * ( centerSeperation * eA / edgeSeperation );
s = Float4::standard_unit_y; s = Float4::standard_unit_y;
centerSeperation = Abs( t.Dot(s) ); centerSeperation = t.Dot(s);
eA = hA.Dot( Abs(s) ); eA = hA.Dot( Abs(s) );
edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); edgeSeperation = eA + hB.Dot( Abs(s * rotationB) );
if( centerSeperation > edgeSeperation ) if( Abs(centerSeperation) > edgeSeperation )
{ // no intersection { // no intersection
return false; return false;
} }
sumPoints += s * ( centerSeperation * eA / edgeSeperation ); sumPoints += s * ( centerSeperation * eA / edgeSeperation );
s = Float4::standard_unit_z; s = Float4::standard_unit_z;
centerSeperation = Abs( t.Dot(s) ); centerSeperation = t.Dot(s);
eA = hA.Dot( Abs(s) ); eA = hA.Dot( Abs(s) );
edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); edgeSeperation = eA + hB.Dot( Abs(s * rotationB) );
if( centerSeperation > edgeSeperation ) if( Abs(centerSeperation) > edgeSeperation )
{ // no intersection { // no intersection
return false; return false;
} }
sumPoints += s * ( centerSeperation * eA / edgeSeperation ); sumPoints += s * ( centerSeperation * eA / edgeSeperation );
s = rotationB.v[0]; s = rotationB.v[0];
centerSeperation = Abs( t.Dot(s) ); centerSeperation = t.Dot(s);
eA = hA.Dot( Abs(s) ); eA = hA.Dot( Abs(s) );
edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); edgeSeperation = eA + hB.Dot( Abs(s * rotationB) );
if( centerSeperation > edgeSeperation ) if( Abs(centerSeperation) > edgeSeperation )
{ // no intersection { // no intersection
return false; return false;
} }
sumPoints += s * ( centerSeperation * eA / edgeSeperation ); sumPoints += s * ( centerSeperation * eA / edgeSeperation );
s = rotationB.v[1]; s = rotationB.v[1];
centerSeperation = Abs( t.Dot(s) ); centerSeperation = t.Dot(s);
eA = hA.Dot( Abs(s) ); eA = hA.Dot( Abs(s) );
edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); edgeSeperation = eA + hB.Dot( Abs(s * rotationB) );
if( centerSeperation > edgeSeperation ) if( Abs(centerSeperation) > edgeSeperation )
{ // no intersection { // no intersection
return false; return false;
} }
sumPoints += s * ( centerSeperation * eA / edgeSeperation ); sumPoints += s * ( centerSeperation * eA / edgeSeperation );
s = rotationB.v[2]; s = rotationB.v[2];
centerSeperation = Abs( t.Dot(s) ); centerSeperation = t.Dot(s);
eA = hA.Dot( Abs(s) ); eA = hA.Dot( Abs(s) );
edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); edgeSeperation = eA + hB.Dot( Abs(s * rotationB) );
if( centerSeperation > edgeSeperation ) if( Abs(centerSeperation) > edgeSeperation )
{ // no intersection { // no intersection
return false; return false;
} }
sumPoints += s * ( centerSeperation * eA / edgeSeperation ); sumPoints += 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 ); s = Float4( Float3::standard_unit_x.Cross(rotationB.v[0].xyz), 0.0f );
centerSeperation = Abs( t.Dot(s) ); centerSeperation = t.Dot(s);
eA = hA.Dot( Abs(s) ); eA = hA.Dot( Abs(s) );
edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); edgeSeperation = eA + hB.Dot( Abs(s * rotationB) );
if( centerSeperation > edgeSeperation ) if( Abs(centerSeperation) > edgeSeperation )
{ // no intersection { // no intersection
return false; return false;
} }
sumPoints += s.GetNormalized() * ( centerSeperation * eA / edgeSeperation );
s = Float4( Float3::standard_unit_x.Cross(rotationB.v[1].xyz), 0.0f ); s = Float4( Float3::standard_unit_x.Cross(rotationB.v[1].xyz), 0.0f );
centerSeperation = Abs( t.Dot(s) ); centerSeperation = t.Dot(s);
eA = hA.Dot( Abs(s) ); eA = hA.Dot( Abs(s) );
edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); edgeSeperation = eA + hB.Dot( Abs(s * rotationB) );
if( centerSeperation > edgeSeperation ) if( Abs(centerSeperation) > edgeSeperation )
{ // no intersection { // no intersection
return false; return false;
} }
sumPoints += s.GetNormalized() * ( centerSeperation * eA / edgeSeperation );
s = Float4( Float3::standard_unit_x.Cross(rotationB.v[2].xyz), 0.0f ); s = Float4( Float3::standard_unit_x.Cross(rotationB.v[2].xyz), 0.0f );
centerSeperation = Abs( t.Dot(s) ); centerSeperation = t.Dot(s);
eA = hA.Dot( Abs(s) ); eA = hA.Dot( Abs(s) );
edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); edgeSeperation = eA + hB.Dot( Abs(s * rotationB) );
if( centerSeperation > edgeSeperation ) if( Abs(centerSeperation) > edgeSeperation )
{ // no intersection { // no intersection
return false; return false;
} }
sumPoints += s.GetNormalized() * ( centerSeperation * eA / edgeSeperation );
s = Float4( Float3::standard_unit_y.Cross(rotationB.v[0].xyz), 0.0f ); s = Float4( Float3::standard_unit_y.Cross(rotationB.v[0].xyz), 0.0f );
centerSeperation = Abs( t.Dot(s) ); centerSeperation = t.Dot(s);
eA = hA.Dot( Abs(s) ); eA = hA.Dot( Abs(s) );
edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); edgeSeperation = eA + hB.Dot( Abs(s * rotationB) );
if( centerSeperation > edgeSeperation ) if( Abs(centerSeperation) > edgeSeperation )
{ // no intersection { // no intersection
return false; return false;
} }
sumPoints += s.GetNormalized() * ( centerSeperation * eA / edgeSeperation );
s = Float4( Float3::standard_unit_y.Cross(rotationB.v[1].xyz), 0.0f ); s = Float4( Float3::standard_unit_y.Cross(rotationB.v[1].xyz), 0.0f );
centerSeperation = Abs( t.Dot(s) ); centerSeperation = t.Dot(s);
eA = hA.Dot( Abs(s) ); eA = hA.Dot( Abs(s) );
edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); edgeSeperation = eA + hB.Dot( Abs(s * rotationB) );
if( centerSeperation > edgeSeperation ) if( Abs(centerSeperation) > edgeSeperation )
{ // no intersection { // no intersection
return false; return false;
} }
sumPoints += s.GetNormalized() * ( centerSeperation * eA / edgeSeperation );
s = Float4( Float3::standard_unit_y.Cross(rotationB.v[2].xyz), 0.0f ); s = Float4( Float3::standard_unit_y.Cross(rotationB.v[2].xyz), 0.0f );
centerSeperation = Abs( t.Dot(s) ); centerSeperation = t.Dot(s);
eA = hA.Dot( Abs(s) ); eA = hA.Dot( Abs(s) );
edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); edgeSeperation = eA + hB.Dot( Abs(s * rotationB) );
if( centerSeperation > edgeSeperation ) if( Abs(centerSeperation) > edgeSeperation )
{ // no intersection { // no intersection
return false; return false;
} }
sumPoints += s.GetNormalized() * ( centerSeperation * eA / edgeSeperation );
s = Float4( Float3::standard_unit_z.Cross(rotationB.v[0].xyz), 0.0f ); s = Float4( Float3::standard_unit_z.Cross(rotationB.v[0].xyz), 0.0f );
centerSeperation = Abs( t.Dot(s) ); centerSeperation = t.Dot(s);
eA = hA.Dot( Abs(s) ); eA = hA.Dot( Abs(s) );
edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); edgeSeperation = eA + hB.Dot( Abs(s * rotationB) );
if( centerSeperation > edgeSeperation ) if( Abs(centerSeperation) > edgeSeperation )
{ // no intersection { // no intersection
return false; return false;
} }
sumPoints += s.GetNormalized() * ( centerSeperation * eA / edgeSeperation );
s = Float4( Float3::standard_unit_z.Cross(rotationB.v[1].xyz), 0.0f ); s = Float4( Float3::standard_unit_z.Cross(rotationB.v[1].xyz), 0.0f );
centerSeperation = Abs( t.Dot(s) ); centerSeperation = t.Dot(s);
eA = hA.Dot( Abs(s) ); eA = hA.Dot( Abs(s) );
edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); edgeSeperation = eA + hB.Dot( Abs(s * rotationB) );
if( centerSeperation > edgeSeperation ) if( Abs(centerSeperation) > edgeSeperation )
{ // no intersection { // no intersection
return false; return false;
} }
sumPoints += s.GetNormalized() * ( centerSeperation * eA / edgeSeperation );
s = Float4( Float3::standard_unit_z.Cross(rotationB.v[2].xyz), 0.0f ); s = Float4( Float3::standard_unit_z.Cross(rotationB.v[2].xyz), 0.0f );
centerSeperation = Abs( t.Dot(s) ); centerSeperation = t.Dot(s);
eA = hA.Dot( Abs(s) ); eA = hA.Dot( Abs(s) );
edgeSeperation = eA + hB.Dot( Abs(s * rotationB) ); edgeSeperation = eA + hB.Dot( Abs(s * rotationB) );
if( centerSeperation > edgeSeperation ) if( Abs(centerSeperation) > edgeSeperation )
{ // no intersection { // no intersection
return false; return false;
} }
sumPoints += s.GetNormalized() * ( centerSeperation * eA / edgeSeperation );
worldPointOfContact = ((1.0f/5.0f) * sumPoints).xyz; worldPointOfContact = (0.5f * sumPoints).xyz;
return true; return true;
} }
} }