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Fix segfault on collisions between dynamic complex (polyheder) and dynamic convex (box/sphere/cone/cylinder) objects.

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This commit is contained in:
Kester Maddock 2004-04-17 00:56:54 +00:00
parent 974c19bc01
commit aa5500680d
1 changed files with 32 additions and 8 deletions
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40
extern/solid/src/DT_Object.cpp vendored
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@ -88,9 +88,16 @@ bool intersectComplexConvex(const DT_Shape& a, const MT_Transform& a2w, MT_Scala
const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin, const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin,
MT_Vector3& v) MT_Vector3& v)
{ {
DT_Transform tb(b2w, (const DT_Convex&)b); if (a.getType() == COMPLEX)
return intersect((const DT_Complex&)a, a2w, a_margin, {
DT_Transform tb(b2w, (const DT_Convex&)b);
return intersect((const DT_Complex&)a, a2w, a_margin,
(b_margin > MT_Scalar(0.0) ? static_cast<const DT_Convex&>(DT_Minkowski(tb, DT_Sphere(b_margin))) : static_cast<const DT_Convex&>(tb)), v); (b_margin > MT_Scalar(0.0) ? static_cast<const DT_Convex&>(DT_Minkowski(tb, DT_Sphere(b_margin))) : static_cast<const DT_Convex&>(tb)), v);
}
bool r = intersectComplexConvex(b, b2w, b_margin, a, a2w, a_margin, v);
v *= -1.;
return r;
} }
bool intersectComplexComplex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin, bool intersectComplexComplex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin,
@ -132,9 +139,16 @@ bool common_pointComplexConvex(const DT_Shape& a, const MT_Transform& a2w, MT_Sc
const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin, const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin,
MT_Vector3& v, MT_Point3& pa, MT_Point3& pb) MT_Vector3& v, MT_Point3& pa, MT_Point3& pb)
{ {
DT_Transform tb(b2w, (const DT_Convex&)b); if (a.getType() == COMPLEX)
return common_point((const DT_Complex&)a, a2w, a_margin, {
(b_margin > MT_Scalar(0.0) ? static_cast<const DT_Convex&>(DT_Minkowski(tb, DT_Sphere(b_margin))) : static_cast<const DT_Convex&>(tb)), v, pa, pb); DT_Transform tb(b2w, (const DT_Convex&)b);
return common_point((const DT_Complex&)a, a2w, a_margin,
(b_margin > MT_Scalar(0.0) ? static_cast<const DT_Convex&>(DT_Minkowski(tb, DT_Sphere(b_margin))) : static_cast<const DT_Convex&>(tb)), v, pa, pb);
}
bool r = common_pointComplexConvex(b, b2w, b_margin, a, a2w, a_margin, v, pb, pa);
v *= -1.;
return r;
} }
bool common_pointComplexComplex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin, bool common_pointComplexComplex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin,
@ -176,8 +190,13 @@ bool penetration_depthComplexConvex(const DT_Shape& a, const MT_Transform& a2w,
const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin, const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin,
MT_Vector3& v, MT_Point3& pa, MT_Point3& pb) MT_Vector3& v, MT_Point3& pa, MT_Point3& pb)
{ {
return penetration_depth((const DT_Complex&)a, a2w, a_margin, if (a.getType() == COMPLEX)
return penetration_depth((const DT_Complex&)a, a2w, a_margin,
DT_Transform(b2w, (const DT_Convex&)b), b_margin, v, pa, pb); DT_Transform(b2w, (const DT_Convex&)b), b_margin, v, pa, pb);
bool r = penetration_depthComplexConvex(b, b2w, b_margin, a, a2w, a_margin, v, pb, pa);
v *= -1.;
return r;
} }
bool penetration_depthComplexComplex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin, bool penetration_depthComplexComplex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin,
@ -219,9 +238,14 @@ MT_Scalar closest_pointsComplexConvex(const DT_Shape& a, const MT_Transform& a2w
const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin, const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin,
MT_Point3& pa, MT_Point3& pb) MT_Point3& pa, MT_Point3& pb)
{ {
if (a.getType() == COMPLEX)
{
DT_Transform tb(b2w, (const DT_Convex&)b); DT_Transform tb(b2w, (const DT_Convex&)b);
return closest_points((const DT_Complex&)a, a2w, a_margin, return closest_points((const DT_Complex&)a, a2w, a_margin,
(b_margin > MT_Scalar(0.0) ? static_cast<const DT_Convex&>(DT_Minkowski(tb, DT_Sphere(b_margin))) : static_cast<const DT_Convex&>(tb)), pa, pb); (b_margin > MT_Scalar(0.0) ? static_cast<const DT_Convex&>(DT_Minkowski(tb, DT_Sphere(b_margin))) : static_cast<const DT_Convex&>(tb)), pa, pb);
}
return -closest_pointsComplexConvex(b, b2w, b_margin, a, a2w, a_margin, pb, pa);
} }
MT_Scalar closest_pointsComplexComplex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin, MT_Scalar closest_pointsComplexComplex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin,