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EgtMachKernel 2.6b3 :

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- adattamenti per modifiche a funzioni di Collision Detection.
This commit is contained in:
Dario Sassi
2024-02-16 08:47:33 +01:00
parent 028a5b7bba
commit 3ca2db72e9
3 changed files with 11 additions and 11 deletions
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EgtMachKernel.rc
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Operation.cpp
+2 -2
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@@ -3891,7 +3891,7 @@ Operation::TestCollisionAvoid( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEn
// traslo il riferimento per avere il cilindro centrato sull'asse Y in positivo
frHsol.Translate( frHsol.VersZ() * ptMin.z) ;
// verifica di collisione tra cilindro e solido
if ( pStm == nullptr || CDeCylClosedSurfTm( frHsol, max( vtDiag.x, vtDiag.y) / 2, vtDiag.z, dSafeDist, *pStm)) {
if ( pStm == nullptr || CDeCylClosedSurfTm( frHsol, max( vtDiag.x, vtDiag.y) / 2, vtDiag.z, *pStm, dSafeDist)) {
bCollide = true ;
break ;
}
@@ -3901,7 +3901,7 @@ Operation::TestCollisionAvoid( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEn
// traslo il riferimento per avere il box nel primo ottante
frHsol.Translate( frHsol.VersX() * ptMin.x + frHsol.VersY() * ptMin.y + frHsol.VersZ() * ptMin.z) ;
// verifica di collisione tra box e solido
if ( pStm == nullptr || CDeBoxClosedSurfTm( frHsol, vtDiag, dSafeDist, *pStm)) {
if ( pStm == nullptr || CDeBoxClosedSurfTm( frHsol, vtDiag, *pStm, dSafeDist)) {
bCollide = true ;
break ;
}
Simulator.cpp
+9 -9
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@@ -1425,27 +1425,27 @@ Simulator::ExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType)
if ( m_CollObj[j].nType == MCH_SIM_COB_BOX) {
Vector3d vtDiag( m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_CollObj[j].dPar3) ;
if ( pVZM != nullptr)
bOk = pVZM->AvoidBox( frObj, vtDiag, m_dSafeDist) ;
bOk = ! pVZM->CDeBox( frObj, vtDiag, m_dSafeDist) ;
else
bOk = ! CDeBoxClosedSurfTm( frObj, vtDiag, m_dSafeDist, *pSTM) ;
bOk = ! CDeBoxClosedSurfTm( frObj, vtDiag, *pSTM, m_dSafeDist) ;
}
else if ( m_CollObj[j].nType == MCH_SIM_COB_CYL) {
if ( pVZM != nullptr)
bOk = pVZM->AvoidCylinder( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_dSafeDist) ;
bOk = ! pVZM->CDeCylinder( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_dSafeDist) ;
else
bOk = ! CDeCylClosedSurfTm( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_dSafeDist, *pSTM) ;
bOk = ! CDeCylClosedSurfTm( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, *pSTM, m_dSafeDist) ;
}
else if ( m_CollObj[j].nType == MCH_SIM_COB_SPHE) {
if ( pVZM != nullptr)
bOk = pVZM->AvoidSphere( frObj.Orig(), m_CollObj[j].dPar1, m_dSafeDist) ;
bOk = ! pVZM->CDeSphere( frObj.Orig(), m_CollObj[j].dPar1, m_dSafeDist) ;
else
bOk = ! CDeSpheClosedSurfTm( frObj.Orig(), m_CollObj[j].dPar1, m_dSafeDist, *pSTM) ;
bOk = ! CDeSpheClosedSurfTm( frObj.Orig(), m_CollObj[j].dPar1, *pSTM, m_dSafeDist) ;
}
else if ( m_CollObj[j].nType == MCH_SIM_COB_CONE) {
if ( pVZM != nullptr)
bOk = pVZM->AvoidConeFrustum( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_CollObj[j].dPar3, m_dSafeDist) ;
bOk = ! pVZM->CDeConeFrustum( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_CollObj[j].dPar3, m_dSafeDist) ;
else
bOk = ! CDeConeFrustumClosedSurfTm( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_CollObj[j].dPar3, m_dSafeDist, *pSTM) ;
bOk = ! CDeConeFrustumClosedSurfTm( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_CollObj[j].dPar3, *pSTM, m_dSafeDist) ;
}
}
// altrimenti poliedro
@@ -1454,7 +1454,7 @@ Simulator::ExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType)
const ISurfTriMesh* pStmLoc = GetSurfTriMesh( SurfLoc) ;
if ( pStmLoc != nullptr) {
if ( pVZM != nullptr)
bOk = pVZM->AvoidSurfTm( *pStmLoc, m_dSafeDist) ;
bOk = ! pVZM->CDeSurfTm( *pStmLoc, m_dSafeDist) ;
else
bOk = ! CDeClosedSurfTmClosedSurfTm( *pStmLoc, *pSTM, m_dSafeDist) ;
}