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Implement a special case for edge-edge 3D polygonal clipping.

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Crozet Sébastien
2020-10-13 18:40:59 +02:00
parent 8ee3c703d6
commit faf3e7e0f7
13 changed files with 293 additions and 51 deletions
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8
src/geometry/contact.rs
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@@ -429,7 +429,7 @@ impl ContactManifold {
}
#[inline]
pub(crate) fn try_update_contacts(&mut self, pos12: &Isometry<f32>) -> bool {
pub(crate) fn try_update_contacts(&mut self, pos12: &Isometry<f32>, 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;
}