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Fix some internal edge collisions??

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RandomityGuy 2021-06-14 22:54:16 +05:30
parent a97643baa7
commit e1d2faa2b5
2 changed files with 28 additions and 15 deletions
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3
src/Marble.hx
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@ -701,12 +701,13 @@ class Marble extends GameObject {
var intersectT = this.getIntersectionTime(timeStep, velocity); var intersectT = this.getIntersectionTime(timeStep, velocity);
if (intersectT < timeStep) { if (intersectT < timeStep) {
// intersectT *= 0.8; // We uh tick the shit to not actually at the contact time cause bruh intersectT *= 0.8; // We uh tick the shit to not actually at the contact time cause bruh
// intersectT /= 2; // intersectT /= 2;
var diff = timeStep - intersectT; var diff = timeStep - intersectT;
this.velocity = this.velocity.sub(A.multiply(diff)); this.velocity = this.velocity.sub(A.multiply(diff));
this.omega = this.omega.sub(a.multiply(diff)); this.omega = this.omega.sub(a.multiply(diff));
timeStep = intersectT; timeStep = intersectT;
trace('CCD at ${intersectT}');
} }
piTime += timeStep; piTime += timeStep;

40
src/collision/CollisionEntity.hx
View file

@ -107,6 +107,9 @@ class CollisionEntity implements IOctreeObject {
for (obj in surfaces) { for (obj in surfaces) {
var surface:CollisionSurface = cast obj; var surface:CollisionSurface = cast obj;
var surfaceBestContact:CollisionInfo = null;
var bestDot:Float = Math.NEGATIVE_INFINITY;
var i = 0; var i = 0;
while (i < surface.indices.length) { while (i < surface.indices.length) {
var v0 = surface.points[surface.indices[i]].transformed(tform); var v0 = surface.points[surface.indices[i]].transformed(tform);
@ -117,32 +120,41 @@ class CollisionEntity implements IOctreeObject {
var res = Collision.IntersectTriangleSphere(v0, v, v2, surfacenormal, position, radius); var res = Collision.IntersectTriangleSphere(v0, v, v2, surfacenormal, position, radius);
var closest = res.point; var closest = res.point;
// closest = Collision.ClosestPtPointTriangle(position, radius, v0, v, v2, surface.normals[surface.indices[i]]); // var closest = Collision.ClosestPtPointTriangle(position, radius, v0, v, v2, surfacenormal);
if (closest != null) { if (closest != null) {
if (position.sub(closest).lengthSq() < radius * radius) { if (position.sub(closest).lengthSq() <= radius * radius) {
var normal = res.normal; var normal = res.normal;
if (position.sub(closest).dot(surfacenormal) > 0) { if (position.sub(closest).dot(surfacenormal) > 0) {
normal.normalize(); normal.normalize();
var cinfo = new CollisionInfo(); // We find the normal that is closest to the surface normal, sort of fixes weird edge cases of when colliding with
cinfo.normal = normal; // surface.normals[surface.indices[i]]; var testDot = normal.dot(surfacenormal);
cinfo.point = closest; if (testDot > bestDot) {
// cinfo.collider = this; bestDot = testDot;
cinfo.velocity = this.velocity;
cinfo.contactDistance = closest.distance(position); var cinfo = new CollisionInfo();
cinfo.otherObject = this.go; cinfo.normal = normal; // surface.normals[surface.indices[i]];
// cinfo.penetration = radius - (position.sub(closest).dot(normal)); cinfo.point = closest;
cinfo.restitution = surface.restitution; // cinfo.collider = this;
cinfo.force = surface.force; cinfo.velocity = this.velocity;
cinfo.friction = surface.friction; cinfo.contactDistance = closest.distance(position);
contacts.push(cinfo); cinfo.otherObject = this.go;
// cinfo.penetration = radius - (position.sub(closest).dot(normal));
cinfo.restitution = surface.restitution;
cinfo.force = surface.force;
cinfo.friction = surface.friction;
surfaceBestContact = cinfo;
}
} }
} }
} }
i += 3; i += 3;
} }
if (surfaceBestContact != null)
contacts.push(surfaceBestContact);
} }
return contacts; return contacts;