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Reverted some changes

This commit is contained in:
Diren D Bharwani 2023-03-02 04:27:07 +08:00
parent f7ea42f58e
commit aebf1fc6ec
2 changed files with 6 additions and 13 deletions
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2
SHADE_Engine/src/Physics/Collision/Narrowphase/SHSphereVsConvex.cpp
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@ -238,7 +238,7 @@ namespace SHADE
// Build plane equation
// Use first vertex to build the plane
const SHPlane FACE_PLANE { polyhedron.GetVertex(FACE.vertexIndices[0].index), -polyhedron.GetNormal(i) };
const SHPlane FACE_PLANE { polyhedron.GetVertex(FACE.vertexIndices[0].index), polyhedron.GetNormal(i) };
// Find signed distance of center to plane
const float SIGNED_DIST = FACE_PLANE.SignedDistance(CENTER);

17
SHADE_Engine/src/Physics/Dynamics/SHContactManager.cpp
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@ -52,16 +52,11 @@ namespace SHADE
, .normal = manifold.normal
};
const auto* SHAPE_B = manifold.shapeB;
const SHCollisionUtils::ShapeTransform TF_B = { SHAPE_B->GetWorldCentroid(), SHAPE_B->GetWorldOrientation() };
const auto* SHAPE_A = manifold.shapeA;
const SHCollisionUtils::ShapeTransform TF_A = { SHAPE_A->GetWorldCentroid(), SHAPE_A->GetWorldOrientation() };
for (uint32_t i = 0; i < manifold.numContacts; ++i)
{
const SHVec3 WORLD_POINT_A = TF_B * manifold.contacts[i].localPointA;
const SHVec3 WORLD_POINT_B = TF_B * manifold.contacts[i].localPointB;
collisionEvent.contactPoints[i] = WORLD_POINT_A;
}
collisionEvent.contactPoints[i] = TF_A * manifold.contacts[i].localPointA;
collisionEvents.emplace_back(collisionEvent);
}
@ -84,13 +79,11 @@ namespace SHADE
const auto* SHAPE_B = manifold.shapeB;
const SHCollisionUtils::ShapeTransform TF_A = { SHAPE_A->GetWorldCentroid(), SHAPE_A->GetWorldOrientation() };
const SHCollisionUtils::ShapeTransform TF_B = { SHAPE_B->GetWorldCentroid(), SHAPE_B->GetWorldOrientation() };
for (uint32_t i = 0; i < manifold.numContacts; ++i)
{
// Contact position will be the middle of worldPointA & worldPointB
const SHVec3 WORLD_POINT_A = TF_B * manifold.contacts[i].localPointA;
const SHVec3 WORLD_POINT_B = TF_B * manifold.contacts[i].localPointB;
// Contact position will be world pont
const SHVec3 WORLD_POINT_A = TF_A * manifold.contacts[i].localPointA;
const ContactInfo INFO
{