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fix sphere-cube collisions at edges (really)

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This commit is contained in:
Andrew Meadows 2014-05-05 08:47:02 -07:00
parent 1d64262067
commit b097eed1aa
1 changed files with 20 additions and 26 deletions
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46
libraries/shared/src/ShapeCollider.cpp
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@ -612,42 +612,36 @@ bool sphereAACube(const glm::vec3& sphereCenter, float sphereRadius, const glm::
if (maxBA > halfCubeSide) { if (maxBA > halfCubeSide) {
// sphere hits cube but its center is outside cube // sphere hits cube but its center is outside cube
// contactPoint is on surface of sphere // compute contact anti-pole on cube (in cube frame)
glm::vec3 cubeContact = glm::abs(BA); glm::vec3 cubeContact = glm::abs(BA);
glm::vec3 direction = cubeContact - glm::vec3(halfCubeSide);
if (direction.x < 0.0f) {
direction.x = 0.0f;
}
if (direction.y < 0.0f) {
direction.y = 0.0f;
}
if (direction.z < 0.0f) {
direction.z = 0.0f;
}
glm::vec3 signs = glm::sign(BA);
direction.x *= signs.x;
direction.y *= signs.y;
direction.z *= signs.z;
direction = glm::normalize(direction);
collision->_contactPoint = sphereCenter + sphereRadius * direction;
// penetration points from contact point on cube to that on sphere
if (cubeContact.x > halfCubeSide) { if (cubeContact.x > halfCubeSide) {
cubeContact.x = halfCubeSide; cubeContact.x = halfCubeSide;
} }
cubeContact.x *= -signs.x;
if (cubeContact.y > halfCubeSide) { if (cubeContact.y > halfCubeSide) {
cubeContact.y = halfCubeSide; cubeContact.y = halfCubeSide;
} }
cubeContact.y *= -signs.y;
if (cubeContact.z > halfCubeSide) { if (cubeContact.z > halfCubeSide) {
cubeContact.z = halfCubeSide; cubeContact.z = halfCubeSide;
} }
cubeContact.z *= -signs.z; glm::vec3 signs = glm::sign(BA);
//collision->_penetration = collision->_contactPoint - cubeCenter + cubeContact; cubeContact.x *= signs.x;
collision->_penetration = collision->_contactPoint - (cubeCenter + cubeContact); cubeContact.y *= signs.y;
cubeContact.z *= signs.z;
// compute collision details
glm::vec3 direction = BA - cubeContact;
float lengthDirection = glm::length(direction);
if (lengthDirection < EPSILON) {
// sphereCenter is touching cube surface, so we can't use the difference between those two
// points to compute the penetration direction. Instead we use the unitary components of
// cubeContact.
direction = cubeContact / halfCubeSide;
glm::modf(BA, direction);
lengthDirection = glm::length(direction);
}
direction /= lengthDirection;
collision->_contactPoint = sphereCenter + sphereRadius * direction;
collision->_penetration = sphereRadius * direction - (BA - cubeContact);
} else { } else {
// sphere center is inside cube // sphere center is inside cube
// --> push out nearest face // --> push out nearest face