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fix sphere-sphere collisions for moving spheres

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This commit is contained in:
David Rose 2008-06-18 22:08:35 +00:00
parent aa92d0c62e
commit 20197b6767
1 changed files with 35 additions and 36 deletions
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21
panda/src/collide/collisionSphere.cxx
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@ -312,11 +312,9 @@ test_intersection_from_sphere(const CollisionEntry &entry) const {
DCAST_INTO_R(sphere, entry.get_from(), 0); DCAST_INTO_R(sphere, entry.get_from(), 0);
CPT(TransformState) wrt_space = entry.get_wrt_space(); CPT(TransformState) wrt_space = entry.get_wrt_space();
CPT(TransformState) wrt_prev_space = entry.get_wrt_prev_space();
const LMatrix4f &wrt_mat = wrt_space->get_mat(); const LMatrix4f &wrt_mat = wrt_space->get_mat();
LPoint3f from_a = sphere->get_center() * wrt_prev_space->get_mat();
LPoint3f from_b = sphere->get_center() * wrt_mat; LPoint3f from_b = sphere->get_center() * wrt_mat;
LPoint3f into_center(get_center()); LPoint3f into_center(get_center());
@ -331,7 +329,15 @@ test_intersection_from_sphere(const CollisionEntry &entry) const {
LPoint3f contact_point(into_intersection_point); LPoint3f contact_point(into_intersection_point);
float actual_t = 0.0f; float actual_t = 0.0f;
if (from_a != from_b) { LVector3f vec = from_b - into_center;
float dist2 = dot(vec, vec);
if (dist2 > (into_radius + from_radius) * (into_radius + from_radius)) {
// No intersection with the current position. Check the delta
// from the previous frame.
CPT(TransformState) wrt_prev_space = entry.get_wrt_prev_space();
LPoint3f from_a = sphere->get_center() * wrt_prev_space->get_mat();
if (!from_a.almost_equal(from_b)) {
LVector3f from_direction = from_b - from_a; LVector3f from_direction = from_b - from_a;
if (!intersects_line(t1, t2, from_a, from_direction, from_radius)) { if (!intersects_line(t1, t2, from_a, from_direction, from_radius)) {
// No intersection. // No intersection.
@ -357,17 +363,10 @@ test_intersection_from_sphere(const CollisionEntry &entry) const {
// sphere or beyond it. The first intersection point is at t1. // sphere or beyond it. The first intersection point is at t1.
into_intersection_point = from_a + t1 * from_direction; into_intersection_point = from_a + t1 * from_direction;
} }
} else { } else {
LVector3f vec = from_a - into_center; // No delta, therefore no intersection.
float dist2 = dot(vec, vec);
if (dist2 > (into_radius + from_radius) * (into_radius + from_radius)) {
// No intersection.
return NULL; return NULL;
} }
into_intersection_point = from_a;
t1 = 0.0f;
} }
if (collide_cat.is_debug()) { if (collide_cat.is_debug()) {