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Fixed false positives with convex polyhedron radii

This commit is contained in:
Diren D Bharwani 2022-12-31 01:18:35 +08:00
parent 896b47c1a0
commit 987a1fa515
3 changed files with 8 additions and 15 deletions
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6
SHADE_Engine/src/Physics/Collision/CollisionShapes/SHConvexPolyhedronCollisionShape.h
View File

@ -36,12 +36,6 @@ namespace SHADE
friend class SHCollisionShapeLibrary;
public:
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
static constexpr float RADIUS = 0.1f;
/*---------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*---------------------------------------------------------------------------------*/

16
SHADE_Engine/src/Physics/Collision/Narrowphase/SHSphereVsConvex.cpp
View File

@ -52,8 +52,8 @@ namespace SHADE
const SHSphereCollisionShape& SPHERE = dynamic_cast<const SHSphereCollisionShape&>(A);
const SHConvexPolyhedronCollisionShape& CONVEX = dynamic_cast<const SHConvexPolyhedronCollisionShape&>(B);
const SHVec3 CENTER = SPHERE.GetCenter();
const float TOTAL_RADIUS = SPHERE.GetWorldRadius() + SHConvexPolyhedronCollisionShape::RADIUS;
const SHVec3 CENTER = SPHERE.GetCenter();
const float RADIUS = SPHERE.GetWorldRadius();
// Find closest face of polygon to circle
@ -86,7 +86,7 @@ namespace SHADE
// Early out:
// If face is facing away from center, signed dist is negative.
// Therefore signed distance is only positive when sphere is in front of the face.
if (SIGNED_DIST > TOTAL_RADIUS)
if (SIGNED_DIST > RADIUS)
return false;
if (SIGNED_DIST > bestDistance)
@ -97,7 +97,7 @@ namespace SHADE
}
uint32_t numContacts = 0;
const float PENETRATION = TOTAL_RADIUS - bestDistance;
const float PENETRATION = RADIUS - bestDistance;
// Check if center is inside polyhedron (below the face)
if (bestDistance < SHMath::EPSILON)
@ -182,7 +182,7 @@ namespace SHADE
manifold.normal = CP_TO_CENTER;
SHContact newContact;
newContact.penetration = TOTAL_RADIUS - projection;
newContact.penetration = RADIUS - projection;
newContact.position = CP;
newContact.featurePair.key = 0;
@ -196,7 +196,7 @@ namespace SHADE
// Check region C (closest point)
{
if (C_TO_CENTER.LengthSquared() < TOTAL_RADIUS * TOTAL_RADIUS)
if (C_TO_CENTER.LengthSquared() < RADIUS * RADIUS)
{
manifold.normal = -SHVec3::Normalise(C_TO_CENTER);
@ -213,13 +213,13 @@ namespace SHADE
}
// Region D
if (PENETRATION <= TOTAL_RADIUS)
if (PENETRATION <= RADIUS)
{
manifold.normal = -NORMAL;
SHContact newContact;
newContact.penetration = PENETRATION;
newContact.position = SPHERE.GetCenter() - NORMAL * TOTAL_RADIUS;
newContact.position = SPHERE.GetCenter() - NORMAL * RADIUS;
newContact.featurePair.key = 0;
manifold.contacts[numContacts++] = newContact;

1
SHADE_Engine/src/Physics/Dynamics/SHPhysicsWorld.cpp
View File

@ -108,7 +108,6 @@ namespace SHADE
/*
* TODO: A lot of this needs to be cleaned up.
* Resolve Contacts
*/