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fix "nearly but not quite" edge/corner collisions

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This commit is contained in:
Andrew Meadows 2014-05-05 10:01:31 -07:00
parent b097eed1aa
commit 0cecef6441
1 changed files with 6 additions and 3 deletions
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9
libraries/shared/src/ShapeCollider.cpp
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@ -628,7 +628,7 @@ bool sphereAACube(const glm::vec3& sphereCenter, float sphereRadius, const glm::
cubeContact.y *= signs.y;
cubeContact.z *= signs.z;
// compute collision details
// compute penetration direction
glm::vec3 direction = BA - cubeContact;
float lengthDirection = glm::length(direction);
if (lengthDirection < EPSILON) {
@ -638,8 +638,12 @@ bool sphereAACube(const glm::vec3& sphereCenter, float sphereRadius, const glm::
direction = cubeContact / halfCubeSide;
glm::modf(BA, direction);
lengthDirection = glm::length(direction);
} else if (lengthDirection > sphereRadius) {
return false;
}
direction /= lengthDirection;
// compute collision details
collision->_contactPoint = sphereCenter + sphereRadius * direction;
collision->_penetration = sphereRadius * direction - (BA - cubeContact);
} else {
@ -650,9 +654,8 @@ bool sphereAACube(const glm::vec3& sphereCenter, float sphereRadius, const glm::
glm::modf(BA, direction);
direction = glm::normalize(direction);
// penetration is the projection of surfaceAB on direction
// compute collision details
collision->_penetration = (halfCubeSide + sphereRadius - distance * glm::dot(BA, direction)) * direction;
// contactPoint is on surface of A
collision->_contactPoint = sphereCenter + sphereRadius * direction;
}
return true;