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don't collide with tiny triangles

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RandomityGuy 2023-02-19 18:42:28 +05:30
parent 92fd215fa0
commit 402e7a9893
2 changed files with 30 additions and 3 deletions
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23
src/Marble.hx
View file

@ -892,6 +892,7 @@ class Marble extends GameObject {
found = true; found = true;
// iterationFound = true; // iterationFound = true;
i += 3; i += 3;
// Debug.drawSphere(currentFinalPos, radius);
continue; continue;
} }
} }
@ -971,6 +972,7 @@ class Marble extends GameObject {
lastContactPos = vertDiff.multiply(distanceAlongEdge / edgeLen).add(thisVert); lastContactPos = vertDiff.multiply(distanceAlongEdge / edgeLen).add(thisVert);
lastVert = thisVert; lastVert = thisVert;
found = true; found = true;
// Debug.drawSphere(currentFinalPos, radius);
// iterationFound = true; // iterationFound = true;
continue; continue;
} }
@ -1015,6 +1017,7 @@ class Marble extends GameObject {
currentFinalPos = position.add(relVel.multiply(finalT)); currentFinalPos = position.add(relVel.multiply(finalT));
lastContactPos = thisVert; lastContactPos = thisVert;
found = true; found = true;
// Debug.drawSphere(currentFinalPos, radius);
// iterationFound = true; // iterationFound = true;
} }
} }
@ -1062,6 +1065,7 @@ class Marble extends GameObject {
finalT = edgeCollisionTime; finalT = edgeCollisionTime;
currentFinalPos = position.add(relVel.multiply(finalT)); currentFinalPos = position.add(relVel.multiply(finalT));
// Debug.drawSphere(currentFinalPos, radius);
lastVert = thisVert; lastVert = thisVert;
found = true; found = true;
@ -1268,13 +1272,30 @@ class Marble extends GameObject {
do { do {
var resolved = 0; var resolved = 0;
for (testTri in concernedContacts) { for (testTri in concernedContacts) {
// Check if we are on wrong side of the triangle
if (testTri.n.dot(position) - testTri.n.dot(testTri.v[0]) < 0) {
continue;
}
var t1 = testTri.v[1].sub(testTri.v[0]);
var t2 = testTri.v[2].sub(testTri.v[0]);
var tarea = Math.abs(t1.cross(t2).length()) / 2.0;
// Check if our triangle is too small to be collided with
if (tarea < 0.001) {
continue;
}
var tsi = Collision.TriangleSphereIntersection(testTri.v[0], testTri.v[1], testTri.v[2], testTri.n, position, radius, testTri.edge, var tsi = Collision.TriangleSphereIntersection(testTri.v[0], testTri.v[1], testTri.v[2], testTri.n, position, radius, testTri.edge,
testTri.concavity); testTri.concavity);
if (tsi.result) { if (tsi.result) {
var separatingDistance = position.sub(tsi.point).normalized();
var distToContactPlane = tsi.point.distance(position); var distToContactPlane = tsi.point.distance(position);
if (radius - 0.005 - distToContactPlane > 0.0001) { if (radius - 0.005 - distToContactPlane > 0.0001) {
// Nudge to the surface of the contact plane // Nudge to the surface of the contact plane
position = position.add(tsi.normal.multiply(radius - distToContactPlane - 0.005)); Debug.drawTriangle(testTri.v[0], testTri.v[1], testTri.v[2]);
Debug.drawSphere(position, radius);
position = position.add(separatingDistance.multiply(radius - distToContactPlane - 0.005));
resolved++; resolved++;
} }
} }

10
src/collision/Collision.hx
View file

@ -24,6 +24,7 @@ typedef ITSResult = {
var result:Bool; var result:Bool;
var normal:Vector; var normal:Vector;
var point:Vector; var point:Vector;
var resIdx:Int;
} }
class Collision { class Collision {
@ -67,7 +68,8 @@ class Collision {
var res:ITSResult = { var res:ITSResult = {
result: false, result: false,
point: null, point: null,
normal: null normal: null,
resIdx: 0
}; };
var pnorm = normal.clone(); var pnorm = normal.clone();
@ -146,7 +148,8 @@ class Collision {
var res:ITSResult = { var res:ITSResult = {
result: false, result: false,
point: null, point: null,
normal: null normal: null,
resIdx: -1
}; };
var v0 = A; var v0 = A;
@ -217,6 +220,7 @@ class Collision {
res.result = true; res.result = true;
res.normal = N.clone(); res.normal = N.clone();
res.point = P.sub(N.multiply(P.sub(v0).dot(N))); res.point = P.sub(N.multiply(P.sub(v0).dot(N)));
res.resIdx = 0;
} else { } else {
var closestPt = P.sub(N.multiply(P.sub(v0).dot(N))); var closestPt = P.sub(N.multiply(P.sub(v0).dot(N)));
var r1 = ClosestPointLine(v0, v1, closestPt); var r1 = ClosestPointLine(v0, v1, closestPt);
@ -242,6 +246,8 @@ class Collision {
res.normal = P.sub(res.point).normalized(); res.normal = P.sub(res.point).normalized();
res.result = true; res.result = true;
res.resIdx = chosenEdge;
// if (res.normal.dot(N) > 0.8) { // if (res.normal.dot(N) > 0.8) {
// // Internal edge // // Internal edge
// if (chosenEdge & edgeData > 0) { // if (chosenEdge & edgeData > 0) {