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fix jitter when standing on poly with adjusted normal

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This commit is contained in:
David Rose 2003-11-17 13:57:23 +00:00
parent be0a8a38ec
commit 65246c35a3
1 changed files with 22 additions and 19 deletions
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41
panda/src/collide/collisionPolygon.cxx
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@ -445,23 +445,24 @@ test_intersection_from_sphere(const CollisionEntry &entry) const {
LVector3f(sphere->get_radius(), 0.0f, 0.0f) * wrt_mat;
float from_radius = length(from_radius_v);
float dist = dist_to_plane(from_center);
if (dist > from_radius || dist < -from_radius) {
// No intersection.
return NULL;
}
// Ok, we intersected the plane, but did we intersect the polygon?
LVector3f normal = has_effective_normal() ? get_effective_normal() : get_normal();
nassertr(IS_NEARLY_EQUAL(normal.length_squared(), 1.0f), NULL);
// The nearest point within the plane to our center is the
// intersection of the line (center, center+normal) with the plane.
LPoint3f plane_point;
bool really_intersects =
get_plane().intersects_line(plane_point,
from_center, from_center + get_normal());
nassertr(really_intersects, 0);
float dist;
if (!get_plane().intersects_line(dist, from_center, -normal)) {
// No intersection with plane? This means the plane's effective
// normal was within the plane itself. A useless polygon.
return NULL;
}
LPoint2f p = to_2d(plane_point);
if (dist > from_radius || dist < -from_radius) {
// No intersection with the plane.
return NULL;
}
LPoint2f p = to_2d(from_center + dist * normal);
const ClipPlaneAttrib *cpa = entry.get_into_clip_planes();
if (cpa != (ClipPlaneAttrib *)NULL) {
@ -499,8 +500,8 @@ test_intersection_from_sphere(const CollisionEntry &entry) const {
if (collide_cat.is_debug()) {
collide_cat.debug()
<< "intersection detected from " << entry.get_from_node_path() << " into "
<< entry.get_into_node_path() << "\n";
<< "intersection detected from " << entry.get_from_node_path()
<< " into " << entry.get_into_node_path() << "\n";
}
PT(CollisionEntry) new_entry = new CollisionEntry(entry);
@ -509,12 +510,14 @@ test_intersection_from_sphere(const CollisionEntry &entry) const {
// We have to base the depth of intersection on the sphere's final
// resting point, not the point from which we tested the
// intersection.
into_depth = from_radius - dist_to_plane(orig_center);
float orig_dist;
get_plane().intersects_line(orig_dist, orig_center, -normal);
into_depth = from_radius - orig_dist;
}
new_entry->set_surface_normal(has_effective_normal() ? get_effective_normal() : get_normal());
new_entry->set_surface_point(from_center - get_normal() * dist);
new_entry->set_interior_point(from_center - get_normal() * (dist + into_depth));
new_entry->set_surface_normal(normal);
new_entry->set_surface_point(from_center - normal * dist);
new_entry->set_interior_point(from_center - normal * (dist + into_depth));
return new_entry;
}