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@@ -68,11 +68,11 @@ private:
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mY.push_back(w);
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mP[outIndex] = p;
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mQ[outIndex] = q;
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-
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+
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return w;
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}
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};
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-
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+
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public:
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/// Return code for GetPenetrationDepthStepGJK
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enum class EStatus
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@@ -81,7 +81,7 @@ public:
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Colliding, ///< Returned if the objects penetrate
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Indeterminate ///< Returned if the objects penetrate further than the convex radius. In this case you need to call GetPenetrationDepthStepEPA to get the actual penetration depth.
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};
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-
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+
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/// Calculates penetration depth between two objects, first step of two (the GJK step)
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///
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/// @param inAExcludingConvexRadius Object A without convex radius.
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@@ -91,7 +91,7 @@ public:
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/// @param ioV Pass in previously returned value or (1, 0, 0). On return this value is changed to direction to move B out of collision along the shortest path (magnitude is meaningless).
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/// @param inTolerance Minimal distance before A and B are considered colliding.
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/// @param outPointA Position on A that has the least amount of penetration.
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- /// @param outPointB Position on B that has the least amount of penetration.
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+ /// @param outPointB Position on B that has the least amount of penetration.
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/// Use |outPointB - outPointA| to get the distance of penetration.
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template <typename AE, typename BE>
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EStatus GetPenetrationDepthStepGJK(const AE &inAExcludingConvexRadius, float inConvexRadiusA, const BE &inBExcludingConvexRadius, float inConvexRadiusB, float inTolerance, Vec3 &ioV, Vec3 &outPointA, Vec3 &outPointB)
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@@ -108,7 +108,7 @@ public:
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if (closest_points_dist_sq > combined_radius_sq)
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{
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// No collision
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- return EStatus::NotColliding;
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+ return EStatus::NotColliding;
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}
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if (closest_points_dist_sq > 0.0f)
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{
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@@ -205,7 +205,7 @@ public:
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EPAConvexHullBuilder::NewTriangles new_triangles;
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if (!hull.AddPoint(t, i, FLT_MAX, new_triangles))
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{
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- // We can't recover from a failure to add a point to the hull because the old triangles have been unlinked already.
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+ // We can't recover from a failure to add a point to the hull because the old triangles have been unlinked already.
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// Assume no collision. This can happen if the shapes touch in 1 point (or plane) in which case the hull is degenerate.
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return false;
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}
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@@ -268,7 +268,7 @@ public:
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// Remember last good triangle
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Triangle *last = nullptr;
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-
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+
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// Loop until closest point found
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do
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{
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@@ -296,7 +296,7 @@ public:
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// and this way we do less calculations and lose less precision
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int new_index;
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Vec3 w = support_points.Add(inAIncludingConvexRadius, inBIncludingConvexRadius, t->mNormal, new_index);
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-
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+
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// Project w onto the triangle normal
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float dot = t->mNormal.Dot(w);
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@@ -343,14 +343,11 @@ public:
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break;
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}
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while (hull.HasNextTriangle() && support_points.mY.size() < cMaxPoints);
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-
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+
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// Determine closest points, if last == null it means the hull was a plane so there's no penetration
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if (last == nullptr)
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return false;
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- // Should be an interior point
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- JPH_ASSERT(last->mClosestPointInterior);
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-
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// Calculate penetration by getting the vector from the origin to the closest point on the triangle:
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// distance = (centroid - origin) . normal / |normal|, closest = origin + distance * normal / |normal|
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outV = (last->mCentroid.Dot(last->mNormal) / last->mNormal.LengthSq()) * last->mNormal;
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@@ -422,7 +419,7 @@ public:
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/// @param outPointA is the contact point on A
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/// @param outPointB is the contact point on B
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/// @param outContactNormal is either the contact normal when the objects are touching or the penetration axis when the objects are penetrating at the start of the sweep (pointing from A to B, length will not be 1)
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- ///
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+ ///
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/// @return true if the a hit was found, in which case ioLambda, outPointA, outPointB and outSurfaceNormal are updated.
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template <typename A, typename B>
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bool CastShape(Mat44Arg inStart, Vec3Arg inDirection, float inCollisionTolerance, float inPenetrationTolerance, const A &inA, const B &inB, float inConvexRadiusA, float inConvexRadiusB, bool inReturnDeepestPoint, float &ioLambda, Vec3 &outPointA, Vec3 &outPointB, Vec3 &outContactNormal)
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@@ -433,8 +430,8 @@ public:
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// When our contact normal is too small, we don't have an accurate result
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bool contact_normal_invalid = outContactNormal.IsNearZero(Square(inCollisionTolerance));
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-
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- if (inReturnDeepestPoint
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+
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+ if (inReturnDeepestPoint
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&& ioLambda == 0.0f // Only when lambda = 0 we can have the bodies overlap
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&& (inConvexRadiusA + inConvexRadiusB == 0.0f // When no convex radius was provided we can never trust contact points at lambda = 0
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|| contact_normal_invalid))
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Jorrit Rouwe