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[Add] Always collide with sphere when trimesh inside.

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[Fix] Fixed silly landing bug.
This commit is contained in:
Rtch90 2018-04-06 22:21:53 +01:00
parent a6501f28e4
commit 2a8df8b3bf
2 changed files with 21 additions and 9 deletions
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28
src/collider/geom.cpp
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@ -37,6 +37,24 @@ vector3d Geom::GetPosition(void) const {
}
void Geom::CollideSphere(Sphere& sphere, void(*callback)(CollisionContact*)) {
/*
* If the geom is actually within the sphere, create a contact so
* that we can't fall into spheres forever and ever and ever..
*/
vector3d v = GetPosition() - sphere.pos;
const double len = v.Length();
if(len < sphere.radius) {
CollisionContact c;
c.pos = GetPosition();
c.normal = (1.0/len)*v;
c.depth = sphere.radius - len;
c.triIdx = 0;
c.userData1 = this->m_data;
c.userData2 = sphere.userData;
c.geomFlag = 0;
(*callback)(&c);
return;
}
for(int i = 0; i < m_geomtree->m_numVertices; i++) {
vector3d vtx(&m_geomtree->m_vertices[3*i]);
vector3d from = m_orient[!m_orientIdx] * vtx;
@ -45,13 +63,8 @@ void Geom::CollideSphere(Sphere& sphere, void(*callback)(CollisionContact*)) {
const double len = dir.Length();
dir *= 1.0f/len;
vector3d _from(from.x, from.y, from.z);
vector3d _dir(dir.x, dir.y, dir.z);
_dir.Normalize();
/* Collide with lovely sphere! */
const vector3d v = _from - sphere.pos;
const vector3d v = from - sphere.pos;
const double b = -vector3d::Dot(v, dir);
double det = (b*b) - vector3d::Dot(v,v) + (sphere.radius*sphere.radius);
if(det > 0) {
@ -62,7 +75,7 @@ void Geom::CollideSphere(Sphere& sphere, void(*callback)(CollisionContact*)) {
if(i1 > 0) {
if(i1 < len) {
CollisionContact c;
c.pos = _from + _dir*i1;
c.pos = from + dir*i1;
c.normal = vector3d::Normalize(v);
c.depth = len - i1;
c.triIdx = 0;
@ -95,7 +108,6 @@ void Geom::Collide(Geom* b, void(*callback)(CollisionContact*)) {
isect_t isect;
isect.dist = len;
isect.triIdx = -1;
_dir.Normalize();
b->m_geomtree->TraceRay(_from, _dir, &isect);
if(isect.triIdx != -1) {
CollisionContact c;

2
src/ship.cpp
View File

@ -199,6 +199,7 @@ void Ship::Blastoff(void) {
}
void Ship::TestLanded(void) {
m_testLanded = false;
if(m_launchLockTimeout != 0) return;
if(GetFrame()->m_astroBody) {
const dReal* vel = dBodyGetLinearVel(m_body);
@ -245,7 +246,6 @@ void Ship::TestLanded(void) {
dBodyDisable(m_body);
ClearThrusterState();
m_flightState = LANDED;
m_testLanded = false;
}
}
}