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Fixed a stupid bug with segment-segment collision in SAT physics, closes #4801 , closes #4984

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This commit is contained in:
Juan Linietsky 2016-06-18 18:32:10 -03:00
parent 1c541a2bee
commit 4b05181397
1 changed files with 39 additions and 22 deletions
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61
servers/physics_2d/collision_solver_2d_sat.cpp
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@ -77,6 +77,7 @@ _FORCE_INLINE_ static void _generate_contacts_point_edge(const Vector2 * p_point
struct _generate_contacts_Pair {
bool a;
int idx;
float d;
_FORCE_INLINE_ bool operator <(const _generate_contacts_Pair& l) const { return d< l.d; }
@ -89,12 +90,14 @@ _FORCE_INLINE_ static void _generate_contacts_edge_edge(const Vector2 * p_points
ERR_FAIL_COND( p_point_count_B != 2 ); // circle is actually a 4x3 matrix
#endif
# if 0
Vector2 rel_A=p_points_A[1]-p_points_A[0];
Vector2 rel_B=p_points_B[1]-p_points_B[0];
Vector2 t = p_collector->normal.tangent();
print_line("tangent: "+t);
real_t dA[2]={t.dot(p_points_A[0]),t.dot(p_points_A[1])};
Vector2 pA[2]={p_points_A[0],p_points_A[1]};
@ -201,41 +204,55 @@ _FORCE_INLINE_ static void _generate_contacts_edge_edge(const Vector2 * p_points
}
}
#endif
#if 0
#if 1
Vector2 axis = rel_A.normalized();
Vector2 axis_B = rel_B.normalized();
if (axis.dot(axis_B)<0)
axis_B=-axis_B;
axis=(axis+axis_B)*0.5;
Vector2 normal_A = axis.tangent();
real_t dA = normal_A.dot(p_points_A[0]);
Vector2 normal_B = rel_B.tangent().normalized();
real_t dB = normal_A.dot(p_points_B[0]);
Vector2 A[4]={ normal_A.plane_project(dA,p_points_B[0]), normal_A.plane_project(dA,p_points_B[1]), p_points_A[0], p_points_A[1] };
Vector2 B[4]={ p_points_B[0], p_points_B[1], normal_B.plane_project(dB,p_points_A[0]), normal_B.plane_project(dB,p_points_A[1]) };
Vector2 n = p_collector->normal;
Vector2 t = n.tangent();
real_t dA = n.dot(p_points_A[0]);
real_t dB = n.dot(p_points_B[0]);
_generate_contacts_Pair dvec[4];
for(int i=0;i<4;i++) {
dvec[i].d=axis.dot(p_points_A[0]-A[i]);
dvec[i].idx=i;
}
dvec[0].d=t.dot(p_points_A[0]);
dvec[0].a=true;
dvec[0].idx=0;
dvec[1].d=t.dot(p_points_A[1]);
dvec[1].a=true;
dvec[1].idx=1;
dvec[2].d=t.dot(p_points_B[0]);
dvec[2].a=false;
dvec[2].idx=0;
dvec[3].d=t.dot(p_points_B[1]);
dvec[3].a=false;
dvec[3].idx=1;
SortArray<_generate_contacts_Pair> sa;
sa.sort(dvec,4);
for(int i=1;i<=2;i++) {
Vector2 a = A[i];
Vector2 b = B[i];
if (p_collector->normal.dot(a) > p_collector->normal.dot(b)-CMP_EPSILON)
continue;
p_collector->call(a,b);
if (dvec[i].a) {
Vector2 a = p_points_A[dvec[i].idx];
Vector2 b = n.plane_project(dB,a);
if (n.dot(a) > n.dot(b)-CMP_EPSILON)
continue;
p_collector->call(a,b);
} else {
Vector2 b = p_points_B[dvec[i].idx];
Vector2 a = n.plane_project(dA,b);
if (n.dot(a) > n.dot(b)-CMP_EPSILON)
continue;
p_collector->call(a,b);
}
}
#elif 0
Vector2 axis = rel_A.normalized(); //make an axis
Vector2 axis_B = rel_B.normalized();