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sphere-cube: add the penetration don't subtract it

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This commit is contained in:
Andrew Meadows 2014-05-02 10:39:27 -07:00
parent 22bf10a9e7
commit 9ceda573cc
1 changed files with 4 additions and 2 deletions
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6
libraries/shared/src/ShapeCollider.cpp
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@ -15,6 +15,7 @@
#include "GeometryUtil.h" #include "GeometryUtil.h"
#include "ShapeCollider.h" #include "ShapeCollider.h"
#include "StreamUtils.h" // adebug
// NOTE: // NOTE:
// //
@ -591,7 +592,8 @@ bool listList(const ListShape* listA, const ListShape* listB, CollisionList& col
} }
// helper function // helper function
bool sphereAACube(const glm::vec3& sphereCenter, float sphereRadius, const glm::vec3& cubeCenter, float cubeSide, CollisionList& collisions) { bool sphereAACube(const glm::vec3& sphereCenter, float sphereRadius, const glm::vec3& cubeCenter,
float cubeSide, CollisionList& collisions) {
glm::vec3 BA = cubeCenter - sphereCenter; glm::vec3 BA = cubeCenter - sphereCenter;
float distance = glm::length(BA); float distance = glm::length(BA);
if (distance > EPSILON) { if (distance > EPSILON) {
@ -649,7 +651,7 @@ bool sphereAACube(const glm::vec3& sphereCenter, float sphereRadius, const glm::
// penetration is the projection of surfaceAB on direction // penetration is the projection of surfaceAB on direction
collision->_penetration = glm::dot(surfaceAB, direction) * direction; collision->_penetration = glm::dot(surfaceAB, direction) * direction;
// contactPoint is on surface of A // contactPoint is on surface of A
collision->_contactPoint = sphereCenter - sphereRadius * direction; collision->_contactPoint = sphereCenter + sphereRadius * direction;
return true; return true;
} }
} }