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Fixed a potential infinite loop in AABB Tree 

This behaviour should've thrown an exception wtf???
This commit is contained in:
Diren D Bharwani 2023-01-12 23:23:04 +08:00
parent eda1147b5c
commit 1b885c8878
3 changed files with 18 additions and 23 deletions
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2
SHADE_Engine/src/Physics/Collision/Broadphase/SHDynamicAABBTree.cpp
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@ -337,7 +337,7 @@ namespace SHADE
{
SHASSERT(index >= 0 && index < capacity, "Trying to free an invalid AABB Tree node!")
nodes[index].next = NULL_NODE;
nodes[index].next = freeList;
nodes[index].height = NULL_NODE;
// Put it back on the free list

4
SHADE_Engine/src/Physics/Collision/Shapes/SHCollisionShapeLibrary.cpp
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@ -127,9 +127,9 @@ namespace SHADE
* Faces:
*
* Front: 0 (0,1,2,3) Normal: -Z
* Right: 1 (1,5,6,2) Normal: X
* Right: 1 (5,6,2,1) Normal: X
* Back: 2 (5,4,7,6) Normal: Z
* Left: 3 (4,0,3,7) Normal: -X
* Left: 3 (0,3,7,4) Normal: -X
* Top: 4 (3,2,6,7) Normal: Y
* Bottom: 5 (4,5,1,0) Normal: -Y
*

33
SHADE_Engine/src/Physics/Dynamics/SHRigidBody.cpp
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@ -644,29 +644,24 @@ namespace SHADE
const SHMatrix RT = SHMatrix::Transpose(R);
/*
Compute world inertia as a Vector
* Compute world inertia as a Vector
*
* | a b c || x | | ax + by + cz |
* | d e f || y | = | dx + ey + fz |
* | g h i || z | | gx + hy + iz |
*/
| a b c || x | | ax + by + cz |
| d e f || y | = | dx + ey + fz |
| g h i || z | | gx + hy + iz |
*/
SHMatrix localInertiaTensor = SHMatrix::Identity;
SHMatrix tmp = SHMatrix
{
SHVec4 { localInvInertia.x, 0.0f, 0.0f, 0.0f }
, SHVec4 { 0.0f, localInvInertia.y, 0.0f, 0.0f }
, SHVec4 { 0.0f, 0.0f, localInvInertia.z, 0.0f }
, SHVec4 { 0.0f, 0.0f, 0.0, 1.0f }
};
// Set the diagonals
localInertiaTensor.m[0][0] = localInvInertia.x;
localInertiaTensor.m[1][1] = localInvInertia.y;
localInertiaTensor.m[2][2] = localInvInertia.z;
tmp *= RT;
localInertiaTensor *= RT;
const SHVec3 DIAGONALS { localInertiaTensor.m[0][0], localInertiaTensor.m[1][1], localInertiaTensor.m[2][2] };
worldInvInertia = SHVec3
{
R.m[0][0] * tmp.m[0][0] + RT.m[0][1] * tmp.m[1][1] + RT.m[0][2] * tmp.m[2][2]
, R.m[1][0] * tmp.m[0][0] + RT.m[1][1] * tmp.m[1][1] + RT.m[1][2] * tmp.m[2][2]
, R.m[2][0] * tmp.m[0][0] + RT.m[2][1] * tmp.m[1][1] + RT.m[2][2] * tmp.m[2][2]
};
worldInvInertia = R * DIAGONALS;
// Compute world centroid
worldCentroid = (R * localCentroid) + motionState.position;