DynamicCollisions.cpp File Reference

#include "DynamicCollisions.h"
#include "Application.h"
#include "Actor.h"
#include "SimData.h"
#include "CartesianToTriangleTransform.h"
#include "Collisions.h"
#include "GameContext.h"
#include "PointColDetector.h"
#include "Triangle.h"

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Functions
static bool	BackfaceCollisionTest (const float distance, const Vector3 &normal, const node_t &surface_point, const std::vector< int > &neighbour_node_ids, const node_t nodes[])
	Determine on which side of a triangle an occuring collision takes place. More...
static bool	InsideTriangleTest (const CartesianToTriangleTransform::TriangleCoord &local, const float margin)
	Test if a point given in triangle local coordinates lies within the triangle itself. More...
void	ResolveCollisionForces (const float penetration_depth, node_t &hitnode, node_t &na, node_t &nb, node_t &no, const float alpha, const float beta, const float gamma, const Vector3 &normal, const float dt, const bool remote, ground_model_t &submesh_ground_model)
	Calculate collision forces and apply them to the collision node and the three vertex nodes of the collision triangle. More...

Function Documentation

BackfaceCollisionTest()

static bool BackfaceCollisionTest ( const float  distance, const Vector3 &  normal, const node_t &  surface_point, const std::vector< int > &  neighbour_node_ids, const node_t  nodes[]  )

static

Determine on which side of a triangle an occuring collision takes place.

The frontface of the triangle is the side towards which the surface normal is pointing. The backface is the opposite side.

Note

This implementation is a heuristic, not an accurate calculation.

Parameters

distance	Signed shortest distance from collision point to triangle plane.
normal	Surface normal of the triangle.
surface_point	Arbitrary point within the triangle plane.
neighbour_node_ids	Indices of neighbouring nodes connected to the colliding node.
nodes

Definition at line 49 of file DynamicCollisions.cpp.

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InsideTriangleTest()

static bool InsideTriangleTest ( const CartesianToTriangleTransform::TriangleCoord &  local, const float  margin  )

static

Test if a point given in triangle local coordinates lies within the triangle itself.

A point (within in the triangle plane) is located inside the triangle if its barycentric coordinates \(\alpha, \beta, \gamma\) are all positive. The margin additionally defines the maximum distance from the triangle plane within which a three-dimensional point is still considered to be close enough to be inside the triangle.

Parameters

local	Point in triangle local coordinates.
margin	Range within which a point is considered to be close enough to the triangle plane.

Definition at line 88 of file DynamicCollisions.cpp.

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ResolveCollisionForces()

void ResolveCollisionForces	(	const float	penetration_depth,
		node_t &	hitnode,
		node_t &	na,
		node_t &	nb,
		node_t &	no,
		const float	alpha,
		const float	beta,
		const float	gamma,
		const Vector3 &	normal,
		const float	dt,
		const bool	remote,
		ground_model_t &	submesh_ground_model
	)

Calculate collision forces and apply them to the collision node and the three vertex nodes of the collision triangle.

Definition at line 97 of file DynamicCollisions.cpp.

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