From faf3e7e0f7f2b528da99343f9a3f8ce2b8fa6876 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Tue, 13 Oct 2020 18:40:59 +0200 Subject: Implement a special case for edge-edge 3D polygonal clipping. --- src/geometry/contact.rs | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) (limited to 'src/geometry/contact.rs') diff --git a/src/geometry/contact.rs b/src/geometry/contact.rs index 7e235c2..782175a 100644 --- a/src/geometry/contact.rs +++ b/src/geometry/contact.rs @@ -429,7 +429,7 @@ impl ContactManifold { } #[inline] - pub(crate) fn try_update_contacts(&mut self, pos12: &Isometry) -> bool { + pub(crate) fn try_update_contacts(&mut self, pos12: &Isometry, early_stop: bool) -> bool { if self.points.len() == 0 { return false; } @@ -439,7 +439,7 @@ impl ContactManifold { let local_n2 = pos12 * self.local_n2; - if -self.local_n1.dot(&local_n2) < DOT_THRESHOLD { + if early_stop && -self.local_n1.dot(&local_n2) < DOT_THRESHOLD { return false; } @@ -448,7 +448,7 @@ impl ContactManifold { let dpt = local_p2 - pt.local_p1; let dist = dpt.dot(&self.local_n1); - if dist * pt.dist < 0.0 { + if early_stop && dist * pt.dist < 0.0 { // We switched between penetrating/non-penetrating. // The may result in other contacts to appear. return false; @@ -456,7 +456,7 @@ impl ContactManifold { let new_local_p1 = local_p2 - self.local_n1 * dist; let dist_threshold = 0.001; // FIXME: this should not be hard-coded. - if na::distance_squared(&pt.local_p1, &new_local_p1) > dist_threshold { + if early_stop && na::distance_squared(&pt.local_p1, &new_local_p1) > dist_threshold { return false; } -- cgit From 947c4813c9666fd8215743de298fe17780fa3ef2 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Mon, 19 Oct 2020 16:51:40 +0200 Subject: Complete the pfm/pfm contact generator. --- src/geometry/contact.rs | 25 +++++++++++++++++-------- 1 file changed, 17 insertions(+), 8 deletions(-) (limited to 'src/geometry/contact.rs') diff --git a/src/geometry/contact.rs b/src/geometry/contact.rs index 782175a..d211cf1 100644 --- a/src/geometry/contact.rs +++ b/src/geometry/contact.rs @@ -429,17 +429,27 @@ impl ContactManifold { } #[inline] - pub(crate) fn try_update_contacts(&mut self, pos12: &Isometry, early_stop: bool) -> bool { + pub(crate) fn try_update_contacts(&mut self, pos12: &Isometry) -> bool { + // const DOT_THRESHOLD: f32 = 0.crate::COS_10_DEGREES; + const DOT_THRESHOLD: f32 = crate::utils::COS_5_DEGREES; + const DIST_SQ_THRESHOLD: f32 = 0.001; // FIXME: this should not be hard-coded. + self.try_update_contacts_eps(pos12, DOT_THRESHOLD, DIST_SQ_THRESHOLD) + } + + #[inline] + pub(crate) fn try_update_contacts_eps( + &mut self, + pos12: &Isometry, + angle_dot_threshold: f32, + dist_sq_threshold: f32, + ) -> bool { if self.points.len() == 0 { return false; } - // const DOT_THRESHOLD: f32 = 0.crate::COS_10_DEGREES; - const DOT_THRESHOLD: f32 = crate::utils::COS_5_DEGREES; - let local_n2 = pos12 * self.local_n2; - if early_stop && -self.local_n1.dot(&local_n2) < DOT_THRESHOLD { + if -self.local_n1.dot(&local_n2) < angle_dot_threshold { return false; } @@ -448,15 +458,14 @@ impl ContactManifold { let dpt = local_p2 - pt.local_p1; let dist = dpt.dot(&self.local_n1); - if early_stop && dist * pt.dist < 0.0 { + if dist * pt.dist < 0.0 { // We switched between penetrating/non-penetrating. // The may result in other contacts to appear. return false; } let new_local_p1 = local_p2 - self.local_n1 * dist; - let dist_threshold = 0.001; // FIXME: this should not be hard-coded. - if early_stop && na::distance_squared(&pt.local_p1, &new_local_p1) > dist_threshold { + if na::distance_squared(&pt.local_p1, &new_local_p1) > dist_sq_threshold { return false; } -- cgit