diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/geometry/contact_generator/heightfield_shape_contact_generator.rs | 20 |
1 files changed, 11 insertions, 9 deletions
diff --git a/src/geometry/contact_generator/heightfield_shape_contact_generator.rs b/src/geometry/contact_generator/heightfield_shape_contact_generator.rs index 820caa3..e66bbac 100644 --- a/src/geometry/contact_generator/heightfield_shape_contact_generator.rs +++ b/src/geometry/contact_generator/heightfield_shape_contact_generator.rs @@ -3,7 +3,7 @@ use crate::geometry::contact_generator::{ }; #[cfg(feature = "dim2")] use crate::geometry::Capsule; -use crate::geometry::{Collider, ContactManifold, HeightField, ShapeType}; +use crate::geometry::{Collider, ContactManifold, HeightField, Shape, ShapeType}; use crate::ncollide::bounding_volume::BoundingVolume; #[cfg(feature = "dim3")] use crate::{geometry::Triangle, math::Point}; @@ -72,11 +72,6 @@ fn do_generate_contacts( } else { manifold.subshape_index_pair.1 }; - // println!( - // "Restoring for {} [chosen with {:?}]", - // subshape_id, manifold.subshape_index_pair - // ); - let (generator, workspace2) = ctxt .dispatcher .dispatch_primitives(ShapeType::Capsule, shape_type2); @@ -116,9 +111,9 @@ fn do_generate_contacts( heightfield1.map_elements_in_local_aabb(&ls_aabb2, &mut |i, part1, _| { let position1 = *collider1.position(); #[cfg(feature = "dim2")] - let (position1, sub_shape1) = { + let (position1, dpos1, sub_shape1) = { let (dpos, half_height) = crate::utils::segment_to_capsule(&part1.a, &part1.b); - (position1 * dpos, Capsule::new(half_height, 0.0)) + (position1 * dpos, dpos, Capsule::new(half_height, 0.0)) }; #[cfg(feature = "dim3")] let sub_shape1 = *part1; @@ -134,7 +129,7 @@ fn do_generate_contacts( } Entry::Vacant(entry) => { let (generator, workspace2) = - dispatcher.dispatch_primitives(ShapeType::Triangle, shape_type2); + dispatcher.dispatch_primitives(sub_shape1.shape_type(), shape_type2); let sub_detector = SubDetector { generator, manifold_id: manifolds.len(), @@ -177,6 +172,13 @@ fn do_generate_contacts( } }; + #[cfg(feature = "dim2")] + if coll_pair.collider1 != ctxt2.manifold.pair.collider1 { + ctxt2.manifold.delta2 = collider1.position_wrt_parent() * dpos1; + } else { + ctxt2.manifold.delta1 = collider1.position_wrt_parent() * dpos1; + } + (sub_detector.generator.generate_contacts)(&mut ctxt2) }); |