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handle multiple collisions

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This commit is contained in:
Darren Ranalli 2007-08-30 07:01:47 +00:00
parent 901179b901
commit e4243d27d5
1 changed files with 40 additions and 23 deletions
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61
panda/src/collide/collisionHandlerFluidPusher.cxx
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@ -141,10 +141,6 @@ handle_entries() {
// make a copy of the original collision entries that we can use to re-test the collisions // make a copy of the original collision entries that we can use to re-test the collisions
Entries SCS(*orig_entries); Entries SCS(*orig_entries);
// currently we only support spheres as the collider
const CollisionSphere *sphere;
DCAST_INTO_R(sphere, entries.front()->get_from(), 0);
// this is the original position delta for the entire frame, before collision response // this is the original position delta for the entire frame, before collision response
LPoint3f M(from_node_path.get_pos_delta(*_root)); LPoint3f M(from_node_path.get_pos_delta(*_root));
if (_horizontal) { if (_horizontal) {
@ -160,6 +156,15 @@ handle_entries() {
collide_cat.info() << "orig_pos: " << orig_pos << endl; collide_cat.info() << "orig_pos: " << orig_pos << endl;
collide_cat.info() << "orig_prev_pos: " << orig_prev_pos << endl; collide_cat.info() << "orig_prev_pos: " << orig_prev_pos << endl;
// currently we only support spheres as the collider
const CollisionSphere *sphere;
DCAST_INTO_R(sphere, entries.front()->get_from(), 0);
from_node_path.set_pos(*_root, 0,0,0);
LPoint3f sphere_offset = (sphere->get_center() *
from_node_path.get_transform(*_root)->get_mat());
from_node_path.set_pos(*_root, orig_pos);
// this will hold the final calculated position at each iteration // this will hold the final calculated position at each iteration
LPoint3f candidate_final_pos(orig_pos); LPoint3f candidate_final_pos(orig_pos);
if (_horizontal) { if (_horizontal) {
@ -192,6 +197,7 @@ handle_entries() {
// iterate until the mover runs out of movement or gets stuck // iterate until the mover runs out of movement or gets stuck
while (true) { while (true) {
cout << "while (true)" << endl;
const CollisionEntry *C = 0; const CollisionEntry *C = 0;
// find the first (earliest) collision // find the first (earliest) collision
Entries::const_iterator cei; Entries::const_iterator cei;
@ -222,11 +228,18 @@ handle_entries() {
<< C->get_into_node_path() << "; no contact point/normal information.\n"; << C->get_into_node_path() << "; no contact point/normal information.\n";
break; break;
} }
collide_cat.info() << "contact_point: " << contact_point << endl;
contact_point -= sphere_offset;
LVector3f blocked_movement(candidate_final_pos - contact_point);
if (_horizontal) {
blocked_movement[2] = 0.0f;
}
collide_cat.info() << "blocked movement: " << blocked_movement << endl;
uncollided_pos = candidate_final_pos; uncollided_pos = candidate_final_pos;
candidate_final_pos[0] = contact_point[0]; candidate_final_pos -= blocked_movement;
candidate_final_pos[1] = contact_point[1];
collide_cat.info() << "contact_point: " << contact_point << endl;
LVector3f proj_surface_normal(contact_normal); LVector3f proj_surface_normal(contact_normal);
if (_horizontal) { if (_horizontal) {
@ -278,12 +291,6 @@ handle_entries() {
// calculate new position given that you collided with this thing // calculate new position given that you collided with this thing
// project the final position onto the plane of the obstruction // project the final position onto the plane of the obstruction
LVector3f blocked_movement(uncollided_pos - contact_point);
if (_horizontal) {
blocked_movement[2] = 0.0f;
}
collide_cat.info() << "blocked movement: " << blocked_movement << endl;
candidate_final_pos += (norm_proj_surface_normal * candidate_final_pos += (norm_proj_surface_normal *
-blocked_movement.dot(norm_proj_surface_normal)); -blocked_movement.dot(norm_proj_surface_normal));
@ -311,14 +318,24 @@ handle_entries() {
// calculate new collisions given new movement vector // calculate new collisions given new movement vector
entries.clear(); entries.clear();
// for (cei = SCS.begin(); cei != SCS.end(); ++cei) { Entries::iterator ei;
// *cei->reset_collided(); Entries::iterator to_erase = SCS.end();
// PT(CollisionEntry) result = (*cei)->get_from()->test_intersection(**cei); for (ei = SCS.begin(); ei != SCS.end(); ++ei) {
// if (result != (CollisionEntry *)NULL) { // remove the one we just collided against
// collide_cat.info() << "new collision" << endl; if (*ei == C) {
// entries.push_back(result); to_erase = ei;
// } } else {
// } (*ei)->reset_collided();
PT(CollisionEntry) result = (*ei)->get_from()->test_intersection(**ei);
if (result != (CollisionEntry *)NULL) {
collide_cat.info() << "new collision" << endl;
entries.push_back(result);
}
}
}
if (to_erase != SCS.end()) {
SCS.erase(to_erase);
}
} }
// put things back where they were // put things back where they were
@ -346,7 +363,7 @@ handle_entries() {
apply_net_shove(def, net_shove, force_normal); apply_net_shove(def, net_shove, force_normal);
apply_linear_force(def, force_normal); apply_linear_force(def, force_normal);
//collide_cat.info() << endl; collide_cat.info() << endl;
} }
} }