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Code refactoring.

master
Vectozavr 2021-10-17 23:53:30 +07:00
parent 00c3943eae
commit e232435246
1 changed files with 13 additions and 0 deletions
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13
engine/physics/RigidBody.cpp
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@ -136,6 +136,13 @@ NextSimplex RigidBody::_tetrahedronCase(const Simplex &points) {
} }
std::pair<bool, Simplex> RigidBody::checkGJKCollision(std::shared_ptr<RigidBody> obj) { std::pair<bool, Simplex> RigidBody::checkGJKCollision(std::shared_ptr<RigidBody> obj) {
// This is implementation of GJK algorithm for collision detection.
// It builds a simplex (a simplest shape that can select point in space) around
// zero for Minkowski Difference. Collision happend when zero point is inside.
// See references:
// https://www.youtube.com/watch?v=MDusDn8oTSE
// https://blog.winter.dev/2020/gjk-algorithm/
// Get initial support point in any direction // Get initial support point in any direction
std::shared_ptr<Vec3D> support = std::make_shared<Vec3D>(_support(obj, Vec3D{1, 0, 0})); std::shared_ptr<Vec3D> support = std::make_shared<Vec3D>(_support(obj, Vec3D{1, 0, 0}));
@ -169,6 +176,12 @@ std::pair<bool, Simplex> RigidBody::checkGJKCollision(std::shared_ptr<RigidBody>
} }
CollisionPoint RigidBody::EPA(const Simplex& simplex, std::shared_ptr<RigidBody> obj) { CollisionPoint RigidBody::EPA(const Simplex& simplex, std::shared_ptr<RigidBody> obj) {
// This is implementation of EPA algorithm for solving collision.
// It uses a simplex from GJK around and expand it to the border.
// The goal is to calculate the nearest normal and the intersection depth.
// See references:
// https://www.youtube.com/watch?v=0XQ2FSz3EK8
// https://blog.winter.dev/2020/epa-algorithm/
std::vector<Vec3D> polytope(simplex.begin(), simplex.end()); std::vector<Vec3D> polytope(simplex.begin(), simplex.end());
std::vector<size_t> faces = { std::vector<size_t> faces = {