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about to compute position deltas using sphere

This commit is contained in:
Darren Ranalli 2007-08-30 04:56:01 +00:00
parent 409aa82ab7
commit 98807a694f
1 changed files with 27 additions and 18 deletions
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45
panda/src/collide/collisionHandlerFluidPusher.cxx
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@ -152,19 +152,22 @@ handle_entries() {
}
// this is used to track position deltas every time we collide against a solid
LPoint3f N(M);
//collide_cat.info() << "N: " << N << endl;
collide_cat.info() << "N: " << N << endl;
const LPoint3f orig_pos(from_node_path.get_pos(*_root));
CPT(TransformState) prev_trans(from_node_path.get_prev_transform(*_root));
const LPoint3f orig_prev_pos(prev_trans->get_pos());
//collide_cat.info() << "orig_pos: " << orig_pos << endl;
//collide_cat.info() << "orig_prev_pos: " << orig_prev_pos << endl;
collide_cat.info() << "orig_pos: " << orig_pos << endl;
collide_cat.info() << "orig_prev_pos: " << orig_prev_pos << endl;
// this will hold the final calculated position at each iteration
LPoint3f candidate_final_pos(orig_pos);
if (_horizontal) {
candidate_final_pos[2] = 0.0f;
}
// this holds the position before reacting to collisions
LPoint3f uncollided_pos(candidate_final_pos);
//collide_cat.info() << "candidate_final_pos: " << candidate_final_pos << endl;
collide_cat.info() << "candidate_final_pos: " << candidate_final_pos << endl;
// unit vector facing back into original direction of motion
LVector3f reverse_vec(-M);
@ -172,12 +175,12 @@ handle_entries() {
reverse_vec[2] = 0.0f;
}
reverse_vec.normalize();
//collide_cat.info() << "reverse_vec: " << reverse_vec << endl;
collide_cat.info() << "reverse_vec: " << reverse_vec << endl;
// unit vector pointing out to the right relative to the direction of motion,
// looking into the direction of motion
const LVector3f right_unit(LVector3f::up().cross(reverse_vec));
//collide_cat.info() << "right_unit: " << right_unit << endl;
collide_cat.info() << "right_unit: " << right_unit << endl;
// if both of these become true, we're stuck in a 'corner'
bool left_halfspace_obstructed = false;
@ -207,7 +210,7 @@ handle_entries() {
break;
}
//collide_cat.info() << "t: " << C->get_t() << endl;
collide_cat.info() << "t: " << C->get_t() << endl;
// move back to initial contact point
LPoint3f contact_point;
@ -223,22 +226,22 @@ handle_entries() {
uncollided_pos = candidate_final_pos;
candidate_final_pos[0] = contact_point[0];
candidate_final_pos[1] = contact_point[1];
//collide_cat.info() << "contact_point: " << contact_point << endl;
collide_cat.info() << "contact_point: " << contact_point << endl;
LVector3f proj_surface_normal(contact_normal);
if (_horizontal) {
proj_surface_normal[2] = 0.0f;
}
//collide_cat.info() << "normal: " << contact_normal << endl;
//collide_cat.info() << "proj_surface_normal: " << proj_surface_normal << endl;
collide_cat.info() << "normal: " << contact_normal << endl;
collide_cat.info() << "proj_surface_normal: " << proj_surface_normal << endl;
LVector3f norm_proj_surface_normal(proj_surface_normal);
norm_proj_surface_normal.normalize();
//collide_cat.info() << "norm_proj_surface_normal: " << norm_proj_surface_normal << endl;
collide_cat.info() << "norm_proj_surface_normal: " << norm_proj_surface_normal << endl;
// check to see if we're stuck, given this collision
float dot = right_unit.dot(norm_proj_surface_normal);
//collide_cat.info() << "dot: " << dot << endl;
collide_cat.info() << "dot: " << dot << endl;
if (dot > 0.0f) {
// positive dot means plane is coming from the left (looking along original
@ -279,7 +282,7 @@ handle_entries() {
if (_horizontal) {
blocked_movement[2] = 0.0f;
}
//collide_cat.info() << "blocked movement: " << blocked_movement << endl;
collide_cat.info() << "blocked movement: " << blocked_movement << endl;
candidate_final_pos += (norm_proj_surface_normal *
-blocked_movement.dot(norm_proj_surface_normal));
@ -287,20 +290,24 @@ handle_entries() {
// this is how the regular pusher pushes
//candidate_final_pos += (contact_point - interior_point).length() * norm_proj_surface_normal;
//collide_cat.info() << "candidate_final_pos: " << candidate_final_pos << endl;
collide_cat.info() << "candidate_final_pos: " << candidate_final_pos << endl;
// set up new current/last positions, re-calculate collisions
candidate_final_pos[2] = orig_pos[2];
from_node_path.set_pos(*_root, candidate_final_pos);
CPT(TransformState) prev_trans(from_node_path.get_prev_transform(*_root));
prev_trans->set_pos(contact_point);
from_node_path.set_prev_transform(*_root, prev_trans);
candidate_final_pos[2] = 0.0f;
// recalculate the position delta
N = from_node_path.get_pos_delta(*_root);
if (_horizontal) {
N[2] = 0.0f;
}
//collide_cat.info() << "N: " << N << endl;
collide_cat.info() << "N: " << N << endl;
// calculate new collisions given new movement vector
entries.clear();
@ -321,13 +328,15 @@ handle_entries() {
prev_trans->set_pos(orig_prev_pos);
from_node_path.set_prev_transform(*_root, prev_trans);
candidate_final_pos[2] = orig_pos[2];
LVector3f net_shove(candidate_final_pos - orig_pos);
LVector3f force_normal(net_shove);
force_normal.normalize();
//collide_cat.info() << "candidate_final_pos: " << candidate_final_pos << endl;
//collide_cat.info() << "orig_pos: " << orig_pos << endl;
//collide_cat.info() << "net_shove: " << net_shove << endl;
collide_cat.info() << "candidate_final_pos: " << candidate_final_pos << endl;
collide_cat.info() << "orig_pos: " << orig_pos << endl;
collide_cat.info() << "net_shove: " << net_shove << endl;
// This is the part where the node actually gets moved:
def._target.set_pos(*_root, candidate_final_pos);