diff options
Diffstat (limited to 'servers/physics/gjk_epa.cpp')
| -rw-r--r-- | servers/physics/gjk_epa.cpp | 61 |
1 files changed, 31 insertions, 30 deletions
diff --git a/servers/physics/gjk_epa.cpp b/servers/physics/gjk_epa.cpp index 37edc0d414..9b5b3d4f67 100644 --- a/servers/physics/gjk_epa.cpp +++ b/servers/physics/gjk_epa.cpp @@ -1,31 +1,14 @@ -/*************************************************************************/ -/* gjk_epa.cpp */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* http://www.godotengine.org */ -/*************************************************************************/ -/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ -/* */ -/* Permission is hereby granted, free of charge, to any person obtaining */ -/* a copy of this software and associated documentation files (the */ -/* "Software"), to deal in the Software without restriction, including */ -/* without limitation the rights to use, copy, modify, merge, publish, */ -/* distribute, sublicense, and/or sell copies of the Software, and to */ -/* permit persons to whom the Software is furnished to do so, subject to */ -/* the following conditions: */ -/* */ -/* The above copyright notice and this permission notice shall be */ -/* included in all copies or substantial portions of the Software. */ -/* */ -/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ -/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ -/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ -/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ -/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ -/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ -/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -/*************************************************************************/ +/*************************************************/ +/* gjk_epa.cpp */ +/*************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/*************************************************/ +/* Source code within this file is: */ +/* (c) 2007-2010 Juan Linietsky, Ariel Manzur */ +/* All Rights Reserved. */ +/*************************************************/ + #include "gjk_epa.h" /*************** Bullet's GJK-EPA2 IMPLEMENTATION *******************/ @@ -798,8 +781,8 @@ bool Distance( const ShapeSW* shape0, w0+=shape.Support( gjk.m_simplex->c[i]->d,0)*p; w1+=shape.Support(-gjk.m_simplex->c[i]->d,1)*p; } - results.witnesses[0] = wtrs0.xform(w0); - results.witnesses[1] = wtrs0.xform(w1); + results.witnesses[0] = w0; + results.witnesses[1] = w1; results.normal = w0-w1; results.distance = results.normal.length(); results.normal /= results.distance>GJK_MIN_DISTANCE?results.distance:1; @@ -881,6 +864,24 @@ bool Penetration( const ShapeSW* shape0, + + +bool gjk_epa_calculate_distance(const ShapeSW *p_shape_A, const Transform& p_transform_A, const ShapeSW *p_shape_B, const Transform& p_transform_B, Vector3& r_result_A, Vector3& r_result_B) { + + + GjkEpa2::sResults res; + + if (GjkEpa2::Distance(p_shape_A,p_transform_A,p_shape_B,p_transform_B,p_transform_B.origin-p_transform_A.origin,res)) { + + r_result_A=res.witnesses[0]; + r_result_B=res.witnesses[1]; + return true; + } + + return false; + +} + bool gjk_epa_calculate_penetration(const ShapeSW *p_shape_A, const Transform& p_transform_A, const ShapeSW *p_shape_B, const Transform& p_transform_B, CollisionSolverSW::CallbackResult p_result_callback,void *p_userdata, bool p_swap ) { GjkEpa2::sResults res; |