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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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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) ;
}