xiaoqi
/
SHADE_Y3
1
0
Fork 0
Code Issues 12 Pull Requests Packages Projects Releases 9 Wiki Activity

Reverted computing point offsets in local space 

Force is applied in world space, so contact points should also be in world space
This commit is contained in:
Diren D Bharwani 2023-03-02 04:15:40 +08:00
parent 2d2c8a1b20
commit f7ea42f58e
1 changed files with 4 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
SHADE_Engine/src/Physics/Dynamics/SHContactSolver.cpp
View File

@ -108,14 +108,13 @@ namespace SHADE
memcpy_s(newConstraint.tangents, TANGENTS_SIZE, manifold.tangents, TANGENTS_SIZE);
memcpy_s(newConstraint.contacts, CONTACTS_SIZE, manifold.contacts, CONTACTS_SIZE);
// Compute rA & rB for contacts with the local centroids
const SHVec3 LOCAL_COM_A = BODY_A ? BODY_A->localCentroid : SHVec3::Zero;
const SHVec3 LOCAL_COM_B = BODY_B ? BODY_B->localCentroid : SHVec3::Zero;
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 < newConstraint.numContacts; ++i)
{
newConstraint.contacts[i].rA = newConstraint.contacts[i].localPointA - LOCAL_COM_A;
newConstraint.contacts[i].rB = newConstraint.contacts[i].localPointB - LOCAL_COM_B;
newConstraint.contacts[i].rA = (TF_A * newConstraint.contacts[i].localPointA) - newConstraint.centerOfMassA;
newConstraint.contacts[i].rB = (TF_B * newConstraint.contacts[i].localPointB) - newConstraint.centerOfMassB;
}
}