void Simulation::updatePosAndVel(const VectorX& new_pos)
{
m_mesh->m_previous_velocities = m_mesh->m_current_velocities;
m_mesh->m_current_velocities = (new_pos - m_mesh->m_current_positions)/m_h;
m_mesh->m_current_positions = new_pos;
m_mesh->m_current_positions.block_vector(0) = GLM2Eigen(m_mesh->m_positions[0]);
m_mesh->m_current_velocities.block_vector(0) = EigenVector3(0, 0, 0);
m_mesh->m_current_positions.block_vector(59) = GLM2Eigen(m_mesh->m_positions[59]);
m_mesh->m_current_velocities.block_vector(59) = EigenVector3(0, 0, 0);
}
bool Plane::StaticIntersectionTest(const EigenVector3& p, EigenVector3& normal, ScalarType& dist)
{
ScalarType height = m_pos[1];
dist = p(1) - height - COLLISION_EPSILON;
normal = EigenVector3(m_normal[0], m_normal[1], m_normal[2]);
if (dist < 0)
{
return true;
}
else
{
return false;
}
}
bool Sphere::StaticIntersectionTest(const EigenVector3& p, EigenVector3& normal, ScalarType& dist)
{
EigenVector3 center = EigenVector3(m_pos[0], m_pos[1], m_pos[2]);
EigenVector3 diff = p - center;
dist = diff.norm() - m_radius - COLLISION_EPSILON;
if (dist < 0)
{
normal = diff.normalized();
return true;
}
else
{
return false;
}
}
