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fix bug: false positive capsuleCapsule() collision

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for capsules with parallel axes and negative pojection of
center-to-center separation

also replace fabs() with fabsf()
This commit is contained in:
Andrew Meadows 2014-08-04 17:30:23 -07:00
parent 1ec6ee05f3
commit d1b2ba4a43
1 changed files with 4 additions and 4 deletions
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8
libraries/shared/src/ShapeCollider.cpp
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@ -189,7 +189,7 @@ bool sphereCapsule(const SphereShape* sphereA, const CapsuleShape* capsuleB, Col
glm::vec3 capsuleAxis;
capsuleB->computeNormalizedAxis(capsuleAxis);
float axialDistance = - glm::dot(BA, capsuleAxis);
float absAxialDistance = fabs(axialDistance);
float absAxialDistance = fabsf(axialDistance);
float totalRadius = sphereA->getRadius() + capsuleB->getRadius();
if (absAxialDistance < totalRadius + capsuleB->getHalfHeight()) {
glm::vec3 radialAxis = BA + axialDistance * capsuleAxis; // points from A to axis of B
@ -274,7 +274,7 @@ bool capsuleSphere(const CapsuleShape* capsuleA, const SphereShape* sphereB, Col
glm::vec3 capsuleAxis;
capsuleA->computeNormalizedAxis(capsuleAxis);
float axialDistance = - glm::dot(AB, capsuleAxis);
float absAxialDistance = fabs(axialDistance);
float absAxialDistance = fabsf(axialDistance);
float totalRadius = sphereB->getRadius() + capsuleA->getRadius();
if (absAxialDistance < totalRadius + capsuleA->getHalfHeight()) {
glm::vec3 radialAxis = AB + axialDistance * capsuleAxis; // from sphereB to axis of capsuleA
@ -501,7 +501,7 @@ bool capsuleCapsule(const CapsuleShape* capsuleA, const CapsuleShape* capsuleB,
// capsules are approximiately parallel but might still collide
glm::vec3 BA = centerB - centerA;
float axialDistance = glm::dot(BA, axisB);
if (axialDistance > totalRadius + capsuleA->getHalfHeight() + capsuleB->getHalfHeight()) {
if (fabsf(axialDistance) > totalRadius + capsuleA->getHalfHeight() + capsuleB->getHalfHeight()) {
return false;
}
BA = BA - axialDistance * axisB; // BA now points from centerA to axisB (perp to axis)
@ -847,7 +847,7 @@ bool sphereAACube_StarkAngles(const glm::vec3& sphereCenter, float sphereRadius,
// compute the nearest point on sphere
glm::vec3 surfaceA = sphereCenter + sphereRadius * BA;
// compute the nearest point on cube
float maxBA = glm::max(glm::max(fabs(BA.x), fabs(BA.y)), fabs(BA.z));
float maxBA = glm::max(glm::max(fabsf(BA.x), fabsf(BA.y)), fabsf(BA.z));
glm::vec3 surfaceB = cubeCenter - (0.5f * cubeSide / maxBA) * BA;
// collision happens when "vector to surfaceA from surfaceB" dots with BA to produce a positive value
glm::vec3 surfaceAB = surfaceA - surfaceB;