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collisions with cube get rounded normals at edges

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Andrew Meadows 2014-04-22 20:53:12 -07:00
parent f3fd81ca59
commit 1986ac6be3
1 changed files with 31 additions and 5 deletions
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36
libraries/shared/src/ShapeCollider.cpp
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@ -606,11 +606,37 @@ bool sphereAACube(const glm::vec3& sphereCenter, float sphereRadius, const glm::
if (glm::dot(surfaceAB, BA) > 0.f) {
CollisionInfo* collision = collisions.getNewCollision();
if (collision) {
// penetration is parallel to box side direction
BA /= maxBA;
glm::vec3 direction;
glm::modf(BA, direction);
direction = glm::normalize(direction);
// At this point imagine that sphereCenter touches a "normalized" cube with rounded edges.
// This cube has a sidelength of 2 and its smoothing radius is sphereRadius/maxBA.
// We're going to try to compute the "negative normal" (and hence direction of penetration)
// of this surface.
float radius = sphereRadius / (distance * maxBA); // normalized radius
float shortLength = maxBA - radius;
glm::vec3 direction = BA;
if (shortLength > 0.0f) {
direction = glm::abs(BA) - glm::vec3(shortLength);
// Set any negative components to zero, and adopt the sign of the original BA component.
// Unfortunately there isn't an easy way to make this fast.
if (direction.x < 0.0f) {
direction.x = 0.f;
} else if (BA.x < 0.f) {
direction.x = -direction.x;
}
if (direction.y < 0.0f) {
direction.y = 0.f;
} else if (BA.y < 0.f) {
direction.y = -direction.y;
}
if (direction.z < 0.0f) {
direction.z = 0.f;
} else if (BA.z < 0.f) {
direction.z = -direction.z;
}
}
direction = glm::normalize(direction);
// penetration is the projection of surfaceAB on direction
collision->_penetration = glm::dot(surfaceAB, direction) * direction;
// contactPoint is on surface of A
collision->_contactPoint = sphereCenter - sphereRadius * direction;