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improve algorithm and fix issues

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luiscuenca 2019-08-20 09:15:36 -07:00
parent 32a43d5549
commit a9ebe22072
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GPG key ID: 2387ECD129A6961D
1 changed files with 62 additions and 44 deletions
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106
libraries/physics/src/MultiSphereShape.cpp
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@ -306,57 +306,75 @@ MultiSphereShape::CollapsingMode MultiSphereShape::getNextCollapsingMode(Extract
}
}
}
if (collapseCount > 0) {
collapseVector = glm::normalize(collapseVector);
bool perfectAxis = collapseVector.x != 1.0f && collapseVector.y != 1.0f && collapseVector.z != 1.0f;
int halfSphere3DCount = 4;
int halfSphere2DCount = 2;
bool modeSpheres3D = mode == ExtractionMode::SpheresXYZ;
bool modeSpheres2D = mode == ExtractionMode::SpheresXY ||
mode == ExtractionMode::SpheresYZ ||
mode == ExtractionMode::SpheresXZ;
bool modeSpheres1D = mode == ExtractionMode::SpheresX ||
mode == ExtractionMode::SpheresY ||
mode == ExtractionMode::SpheresZ;
bool collapseToSphere = !perfectAxis || (modeSpheres3D && collapseCount > halfSphere3DCount) ||
(modeSpheres2D && collapseCount > halfSphere2DCount) ||
modeSpheres1D;
if (collapseToSphere) {
float collapseDistance = glm::length(collapseVector);
bool allSpheresCollapse = collapseDistance < EPSILON;
if (allSpheresCollapse) {
collapsingMode = CollapsingMode::Sphere;
} else if (collapseVector.x == 1.0f) {
if (modeSpheres3D) {
collapsingMode = CollapsingMode::SpheresYZ;
} else if (modeSpheres2D) {
if (mode == ExtractionMode::SpheresXY) {
collapsingMode = CollapsingMode::SpheresY;
} else if (mode == ExtractionMode::SpheresXZ) {
collapsingMode = CollapsingMode::SpheresZ;
} else {
collapseVector = glm::normalize(collapseVector);
bool alongAxis = collapseVector.x == 1.0f || collapseVector.y == 1.0f || collapseVector.z == 1.0f;
bool alongPlane = collapseVector.x == 0.0f || collapseVector.y == 0.0f || collapseVector.z == 0.0f;
int halfSphere3DCount = 4;
int halfSphere2DCount = 2;
bool modeSpheres3D = mode == ExtractionMode::SpheresXYZ;
bool modeSpheres2D = mode == ExtractionMode::SpheresXY ||
mode == ExtractionMode::SpheresYZ ||
mode == ExtractionMode::SpheresXZ;
bool modeSpheres1D = mode == ExtractionMode::SpheresX ||
mode == ExtractionMode::SpheresY ||
mode == ExtractionMode::SpheresZ;
// SpheresXYZ will collapse along XY YZ XZ planes or X Y Z axes.
// SpheresXY, SpheresYZ and Spheres XZ will collapse only along X Y Z axes.
// Other occurences will be collapsed to a single sphere.
bool isCollapseValid = (modeSpheres3D && (alongAxis || alongPlane)) ||
(modeSpheres2D && (alongAxis));
bool collapseToSphere = !isCollapseValid || (modeSpheres3D && collapseCount > halfSphere3DCount) ||
(modeSpheres2D && collapseCount > halfSphere2DCount) ||
modeSpheres1D;
if (collapseToSphere) {
collapsingMode = CollapsingMode::Sphere;
} else if (modeSpheres3D) {
if (alongAxis) {
if (collapseVector.x == 1.0f) {
collapsingMode = CollapsingMode::SpheresYZ;
} else if (collapseVector.y == 1.0f) {
collapsingMode = CollapsingMode::SpheresXZ;
} else if (collapseVector.z == 1.0f) {
collapsingMode = CollapsingMode::SpheresXY;
}
} else if (alongPlane) {
if (collapseVector.x == 0.0f) {
collapsingMode == CollapsingMode::SpheresX;
} else if (collapseVector.y == 0.0f) {
collapsingMode == CollapsingMode::SpheresY;
} else if (collapseVector.z == 0.0f) {
collapsingMode == CollapsingMode::SpheresZ;
}
}
}
} else if (collapseVector.y == 1.0f) {
if (modeSpheres3D) {
collapsingMode = CollapsingMode::SpheresXZ;
} else if (modeSpheres2D) {
if (mode == ExtractionMode::SpheresXY) {
collapsingMode = CollapsingMode::SpheresX;
} else if (mode == ExtractionMode::SpheresYZ) {
collapsingMode = CollapsingMode::SpheresZ;
}
}
} else if (collapseVector.z == 1.0f) {
if (modeSpheres3D) {
collapsingMode = CollapsingMode::SpheresXY;
} else if (modeSpheres2D) {
if (mode == ExtractionMode::SpheresXZ) {
collapsingMode = CollapsingMode::SpheresX;
} else if (mode == ExtractionMode::SpheresYZ) {
collapsingMode = CollapsingMode::SpheresY;
if (collapseVector.x == 1.0f) {
if (mode == ExtractionMode::SpheresXY) {
collapsingMode = CollapsingMode::SpheresY;
} else if (mode == ExtractionMode::SpheresXZ) {
collapsingMode = CollapsingMode::SpheresZ;
}
} else if (collapseVector.y == 1.0f) {
if (mode == ExtractionMode::SpheresXY) {
collapsingMode = CollapsingMode::SpheresX;
} else if (mode == ExtractionMode::SpheresYZ) {
collapsingMode = CollapsingMode::SpheresZ;
}
} else if (collapseVector.z == 1.0f) {
if (mode == ExtractionMode::SpheresXZ) {
collapsingMode = CollapsingMode::SpheresX;
} else if (mode == ExtractionMode::SpheresYZ) {
collapsingMode = CollapsingMode::SpheresY;
}
}
}
}
qCDebug(physics) << "Multisphere collapsing from mode: " << modeToString(mode) << " to mode: "
<< modeToString(collapsingMode) << " Joint: " << _jointName;
}
return collapsingMode;
}