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Fix bug in 2D heightfield collision detection.

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This commit is contained in:
Crozet Sébastien
2020-10-26 14:12:31 +01:00
parent b9156302d3
commit 9315da2b6c
1 changed files with 11 additions and 9 deletions
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20
src/geometry/contact_generator/heightfield_shape_contact_generator.rs
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@@ -3,7 +3,7 @@ use crate::geometry::contact_generator::{
}; };
#[cfg(feature = "dim2")] #[cfg(feature = "dim2")]
use crate::geometry::Capsule; 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; use crate::ncollide::bounding_volume::BoundingVolume;
#[cfg(feature = "dim3")] #[cfg(feature = "dim3")]
use crate::{geometry::Triangle, math::Point}; use crate::{geometry::Triangle, math::Point};
@@ -72,11 +72,6 @@ fn do_generate_contacts(
} else { } else {
manifold.subshape_index_pair.1 manifold.subshape_index_pair.1
}; };
// println!(
// "Restoring for {} [chosen with {:?}]",
// subshape_id, manifold.subshape_index_pair
// );
let (generator, workspace2) = ctxt let (generator, workspace2) = ctxt
.dispatcher .dispatcher
.dispatch_primitives(ShapeType::Capsule, shape_type2); .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, _| { heightfield1.map_elements_in_local_aabb(&ls_aabb2, &mut |i, part1, _| {
let position1 = *collider1.position(); let position1 = *collider1.position();
#[cfg(feature = "dim2")] #[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); 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")] #[cfg(feature = "dim3")]
let sub_shape1 = *part1; let sub_shape1 = *part1;
@@ -134,7 +129,7 @@ fn do_generate_contacts(
} }
Entry::Vacant(entry) => { Entry::Vacant(entry) => {
let (generator, workspace2) = let (generator, workspace2) =
dispatcher.dispatch_primitives(ShapeType::Triangle, shape_type2); dispatcher.dispatch_primitives(sub_shape1.shape_type(), shape_type2);
let sub_detector = SubDetector { let sub_detector = SubDetector {
generator, generator,
manifold_id: manifolds.len(), 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) (sub_detector.generator.generate_contacts)(&mut ctxt2)
}); });