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ContactPoint tries to help maintain collisions

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so that collision events will continue to update the contact
This commit is contained in:
Andrew Meadows 2014-08-13 13:48:04 -07:00
parent bc432aa8e8
commit 2f1a56a87c
1 changed files with 14 additions and 4 deletions
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18
libraries/shared/src/ContactPoint.cpp
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@ -13,6 +13,8 @@
#include "Shape.h"
#include "SharedUtil.h"
const float CONTACT_PENETRATION_ALLOWANCE = 0.005f;
ContactPoint::ContactPoint() :
_lastFrame(0), _shapeA(NULL), _shapeB(NULL),
_offsetA(0.0f), _offsetB(0.0f),
@ -42,6 +44,10 @@ ContactPoint::ContactPoint(const CollisionInfo& collision, quint32 frame) :
pointB = collision._contactPoint;
}
// bring the contact points inside the shapes to help maintain collision updates
pointA -= CONTACT_PENETRATION_ALLOWANCE * _normal;
pointB += CONTACT_PENETRATION_ALLOWANCE * _normal;
_offsetA = pointA - _shapeA->getTranslation();
_offsetB = pointB - _shapeB->getTranslation();
@ -68,13 +74,13 @@ ContactPoint::ContactPoint(const CollisionInfo& collision, quint32 frame) :
// compute offsets for shapeA
for (int i = 0; i < _numPointsA; ++i) {
glm::vec3 offset = _points[i]->_position - collision._contactPoint;
glm::vec3 offset = _points[i]->_position - pointA;
_offsets.push_back(offset);
_distances.push_back(glm::length(offset));
}
// compute offsets for shapeB
for (int i = _numPointsA; i < _numPoints; ++i) {
glm::vec3 offset = _points[i]->_position - collision._contactPoint + collision._penetration;
glm::vec3 offset = _points[i]->_position - pointB;
_offsets.push_back(offset);
_distances.push_back(glm::length(offset));
}
@ -101,9 +107,9 @@ float ContactPoint::enforce() {
void ContactPoint::buildConstraints() {
glm::vec3 pointA = _shapeA->getTranslation() + _offsetA;
glm::vec3 pointB = _shapeB->getTranslation() + _offsetB;
glm::vec3 penetration = pointB - pointA;
glm::vec3 penetration = pointA - pointB;
float pDotN = glm::dot(penetration, _normal);
bool constraintViolation = (pDotN < 0.0f);
bool constraintViolation = (pDotN > CONTACT_PENETRATION_ALLOWANCE);
// the contact point will be the average of the two points on the shapes
_contactPoint = 0.5f * (pointA + pointB);
@ -164,6 +170,10 @@ void ContactPoint::updateContact(const CollisionInfo& collision, quint32 frame)
pointA = pointB;
pointB = collision._contactPoint;
}
// bring the contact points inside the shapes to help maintain collision updates
pointA -= CONTACT_PENETRATION_ALLOWANCE * _normal;
pointB += CONTACT_PENETRATION_ALLOWANCE * _normal;
// compute relative offsets to per-shape contact points
_offsetA = pointA - collision._shapeA->getTranslation();