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Fix NaN when computing contacts between a cuboid and a perfectly vertical triangle.

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This commit is contained in:
Crozet Sébastien
2020-09-28 11:01:15 +02:00
parent 90dffc59ed
commit f3f2b57f88
3 changed files with 65 additions and 57 deletions
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2
examples3d/all_examples3.rs
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@@ -14,6 +14,7 @@ mod add_remove3;
mod compound3; mod compound3;
mod debug_boxes3; mod debug_boxes3;
mod debug_triangle3; mod debug_triangle3;
mod debug_trimesh3;
mod domino3; mod domino3;
mod heightfield3; mod heightfield3;
mod joints3; mod joints3;
@@ -74,6 +75,7 @@ pub fn main() {
("Keva tower", keva3::init_world), ("Keva tower", keva3::init_world),
("(Debug) boxes", debug_boxes3::init_world), ("(Debug) boxes", debug_boxes3::init_world),
("(Debug) triangle", debug_triangle3::init_world), ("(Debug) triangle", debug_triangle3::init_world),
("(Debug) trimesh", debug_trimesh3::init_world),
]; ];
// Lexicographic sort, with stress tests moved at the end of the list. // Lexicographic sort, with stress tests moved at the end of the list.

8
src/geometry/polyhedron_feature3d.rs
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@@ -110,7 +110,9 @@ impl PolyhedronFace {
if face2.num_vertices > 2 { if face2.num_vertices > 2 {
let normal2 = (face2.vertices[2] - face2.vertices[1]) let normal2 = (face2.vertices[2] - face2.vertices[1])
.cross(&(face2.vertices[0] - face2.vertices[1])); .cross(&(face2.vertices[0] - face2.vertices[1]));
let denom = normal2.dot(&sep_axis1);
if !relative_eq!(denom, 0.0) {
let last_index2 = face2.num_vertices as usize - 1; let last_index2 = face2.num_vertices as usize - 1;
'point_loop1: for i in 0..face1.num_vertices as usize { 'point_loop1: for i in 0..face1.num_vertices as usize {
let p1 = projected_face1[i]; let p1 = projected_face1[i];
@@ -128,7 +130,6 @@ impl PolyhedronFace {
// All the perp had the same sign: the point is inside of the other shapes projection. // All the perp had the same sign: the point is inside of the other shapes projection.
// Output the contact. // Output the contact.
let denom = normal2.dot(&sep_axis1);
let dist = (face2.vertices[0] - face1.vertices[i]).dot(&normal2) / denom; let dist = (face2.vertices[0] - face1.vertices[i]).dot(&normal2) / denom;
let local_p1 = face1.vertices[i]; let local_p1 = face1.vertices[i];
let local_p2 = face1.vertices[i] + dist * sep_axis1; let local_p2 = face1.vertices[i] + dist * sep_axis1;
@@ -146,11 +147,14 @@ impl PolyhedronFace {
} }
} }
} }
}
if face1.num_vertices > 2 { if face1.num_vertices > 2 {
let normal1 = (face1.vertices[2] - face1.vertices[1]) let normal1 = (face1.vertices[2] - face1.vertices[1])
.cross(&(face1.vertices[0] - face1.vertices[1])); .cross(&(face1.vertices[0] - face1.vertices[1]));
let denom = -normal1.dot(&sep_axis1);
if !relative_eq!(denom, 0.0) {
let last_index1 = face1.num_vertices as usize - 1; let last_index1 = face1.num_vertices as usize - 1;
'point_loop2: for i in 0..face2.num_vertices as usize { 'point_loop2: for i in 0..face2.num_vertices as usize {
let p2 = projected_face2[i]; let p2 = projected_face2[i];
@@ -169,7 +173,6 @@ impl PolyhedronFace {
// All the perp had the same sign: the point is inside of the other shapes projection. // All the perp had the same sign: the point is inside of the other shapes projection.
// Output the contact. // Output the contact.
let denom = -normal1.dot(&sep_axis1);
let dist = (face1.vertices[0] - face2.vertices[i]).dot(&normal1) / denom; let dist = (face1.vertices[0] - face2.vertices[i]).dot(&normal1) / denom;
let local_p2 = face2.vertices[i]; let local_p2 = face2.vertices[i];
let local_p1 = face2.vertices[i] - dist * sep_axis1; let local_p1 = face2.vertices[i] - dist * sep_axis1;
@@ -188,6 +191,7 @@ impl PolyhedronFace {
} }
} }
} }
}
// Now we have to compute the intersection between all pairs of // Now we have to compute the intersection between all pairs of
// edges from the face 1 and from the face2. // edges from the face 1 and from the face2.

2
src/lib.rs
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@@ -18,6 +18,8 @@ pub extern crate ncollide3d as ncollide;
#[cfg(feature = "serde")] #[cfg(feature = "serde")]
#[macro_use] #[macro_use]
extern crate serde; extern crate serde;
#[macro_use]
extern crate approx;
extern crate num_traits as num; extern crate num_traits as num;
// #[macro_use] // #[macro_use]
// extern crate array_macro; // extern crate array_macro;