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Fixed incorrect edge preference for convex vs convex

This commit is contained in:
Diren D Bharwani 2023-03-02 05:23:08 +08:00
parent aebf1fc6ec
commit f4b7618fc2
5 changed files with 131 additions and 14 deletions
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2
Assets/Editor/Editor.SHConfig
View File

@ -1,4 +1,4 @@
Start Maximized: true
Working Scene ID: 92914350
Window Size: {x: 1920, y: 1080}
Window Size: {x: 2000, y: 1518}
Style: 0

118
Assets/Scenes/PhysicsSandbox.shade
View File

@ -28,9 +28,9 @@
NumberOfChildren: 0
Components:
Camera Component:
Position: {x: 5, y: 5, z: 0}
Position: {x: 0, y: 0, z: 7}
Pitch: 0
Yaw: 90
Yaw: 0
Roll: 0
Width: 1920
Height: 1080
@ -45,7 +45,7 @@
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 0, y: 7.5, z: 0.75}
Translate: {x: 0, y: 7.5, z: 0}
Rotate: {x: -0, y: 0, z: 0.785398185}
Scale: {x: 1, y: 1, z: 1}
IsActive: true
@ -55,7 +55,7 @@
Mass: 0.52359879
Drag: 0.00999999978
Angular Drag: 0
Use Gravity: true
Use Gravity: false
Gravity Scale: 1
Interpolate: true
Sleeping Enabled: true
@ -175,4 +175,114 @@
Position Offset: {x: 0, y: 0, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~
- EID: 7
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 0, y: 0, z: 3}
Rotate: {x: 0, y: 0, z: 0}
Scale: {x: 1, y: 1, z: 1}
IsActive: true
Collider Component:
DrawColliders: false
Colliders:
- Is Trigger: false
Collision Tag: 1
Type: Box
Half Extents: {x: 1, y: 1, z: 1}
Friction: 0.400000006
Bounciness: 0
Density: 1
Position Offset: {x: 0, y: 0, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~
- EID: 8
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: -1, y: 7, z: 0}
Rotate: {x: 0, y: 0, z: 0.785398185}
Scale: {x: 0.999999642, y: 0.999998569, z: 0.999999642}
IsActive: true
RigidBody Component:
Type: Dynamic
Auto Mass: false
Mass: 1
Drag: 0.00999999978
Angular Drag: 0.00999999978
Use Gravity: true
Gravity Scale: 1
Interpolate: true
Sleeping Enabled: true
Freeze Position X: false
Freeze Position Y: false
Freeze Position Z: false
Freeze Rotation X: false
Freeze Rotation Y: false
Freeze Rotation Z: false
IsActive: true
Collider Component:
DrawColliders: false
Colliders:
- Is Trigger: false
Collision Tag: 1
Type: Box
Half Extents: {x: 1, y: 1, z: 1}
Friction: 0.400000006
Bounciness: 0
Density: 1
Position Offset: {x: 0, y: 0, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts:
- Type: PhysicsTestObj
Enabled: true
forceAmount: 250
torqueAmount: 5
- EID: 65545
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 2, y: 5, z: 3}
Rotate: {x: 0, y: 0, z: 0.785398185}
Scale: {x: 0.999999642, y: 0.999998569, z: 0.999999642}
IsActive: true
RigidBody Component:
Type: Dynamic
Auto Mass: false
Mass: 1
Drag: 0.00999999978
Angular Drag: 0.00999999978
Use Gravity: true
Gravity Scale: 1
Interpolate: true
Sleeping Enabled: true
Freeze Position X: false
Freeze Position Y: false
Freeze Position Z: false
Freeze Rotation X: false
Freeze Rotation Y: false
Freeze Rotation Z: false
IsActive: true
Collider Component:
DrawColliders: false
Colliders:
- Is Trigger: false
Collision Tag: 1
Type: Box
Half Extents: {x: 1, y: 1, z: 1}
Friction: 0.400000006
Bounciness: 0
Density: 1
Position Offset: {x: 0, y: 0, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~

14
Assets/Scenes/SS_Playground.shade
View File

@ -4,7 +4,7 @@
NumberOfChildren: 0
Components:
Camera Component:
Position: {x: 0, y: 1, z: 3}
Position: {x: 0, y: 1, z: 5}
Pitch: 0
Yaw: 0
Roll: 0
@ -22,8 +22,8 @@
Components:
Transform Component:
Translate: {x: 0, y: 0, z: 0}
Rotate: {x: 0, y: 0, z: 0}
Scale: {x: 1, y: 1, z: 1}
Rotate: {x: -0, y: 0, z: -0}
Scale: {x: 5, y: 0.999998808, z: 5}
IsActive: true
Collider Component:
DrawColliders: false
@ -45,7 +45,7 @@
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 0, y: 2, z: 0}
Translate: {x: 1.5, y: 2, z: 1.5}
Rotate: {x: 0, y: 0.785398185, z: 0}
Scale: {x: 1, y: 1, z: 1}
IsActive: true
@ -79,4 +79,8 @@
Position Offset: {x: 0, y: 0, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~
Scripts:
- Type: PhysicsTestObj
Enabled: true
forceAmount: 50
torqueAmount: 500

9
SHADE_Engine/src/Physics/Collision/Narrowphase/SHConvexVsConvex.cpp
View File

@ -153,6 +153,7 @@ namespace SHADE
cachedInfo.info.refFace = minFaceQuery.closestFace;
}
minFaceQuery.bestDistance = std::max(FACE_QUERY_A.bestDistance, FACE_QUERY_B.bestDistance);
// If an edge pair contains the closest distance,vwe ignore any face queries and find the closest points on
// each edge and use that as the contact point.
@ -516,10 +517,10 @@ namespace SHADE
SHContact contact;
contact.penetration = -DIST;
// A: Incident, B: Reference
// Project the clipped point onto the reference place for localPointB
contact.localPointA = INV_TF_INC * (TF_REF * POS);
contact.localPointB = POS + LOCAL_REF_NORMAL * SHVec3::Dot(LOCAL_REF_NORMAL, POS - LOCAL_REF_POINT);
// A: Reference, B: Incident
// Project the clipped point onto the reference place for localPointA
contact.localPointA = POS + LOCAL_REF_NORMAL * SHVec3::Dot(LOCAL_REF_NORMAL, POS - LOCAL_REF_POINT);
contact.localPointB = INV_TF_INC * (TF_REF * POS);
if (flip)
{

2
SHADE_Engine/src/Physics/Dynamics/SHContactSolver.cpp
View File

@ -247,6 +247,8 @@ namespace SHADE
void SHContactSolver::solve() noexcept
{
static const float TEMP_INF = std::numeric_limits<float>::infinity();
for (auto& [key, constraint] : contactConstraints)
{
SHVelocityState& velocityStateA = velocityStates.find(key.GetEntityA())->second;