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Complete the pfm/pfm contact generator.

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This commit is contained in:
Crozet Sébastien
2020-10-19 16:51:40 +02:00
parent faf3e7e0f7
commit 947c4813c9
14 changed files with 166 additions and 182 deletions
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25
src/geometry/contact.rs
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@@ -429,17 +429,27 @@ impl ContactManifold {
}
#[inline]
pub(crate) fn try_update_contacts(&mut self, pos12: &Isometry<f32>, early_stop: bool) -> bool {
pub(crate) fn try_update_contacts(&mut self, pos12: &Isometry<f32>) -> 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<f32>,
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;
}