void Tutorial::tutorialSolveContactConstraintUpdate(float deltaTime,LWContactPoint& contact)
{
ComputeClosestPointsSphereSphere(m_bodies[0]->m_collisionShape.m_sphere,
m_bodies[0]->m_worldPose,
m_bodies[1]->m_collisionShape.m_sphere,
m_bodies[1]->m_worldPose,
contact);
}
void Tutorial::tutorialCollisionUpdate(float deltaTime,LWContactPoint& contact)
{
m_bodies[1]->m_worldPose.m_position.z = 3;
ComputeClosestPointsSphereSphere(m_bodies[0]->m_collisionShape.m_sphere,
m_bodies[0]->m_worldPose,
m_bodies[1]->m_collisionShape.m_sphere,
m_bodies[1]->m_worldPose,
contact);
switch (m_stage)
{
case 0:
{
m_bodies[0]->m_angularVelocity=b3MakeVector3(0,0,0);
m_bodies[0]->m_linearVelocity=b3MakeVector3(1,0,0);
break;
}
case 1:
{
m_bodies[0]->m_linearVelocity=b3MakeVector3(-1,0,0);
break;
}
case 2:
{
m_bodies[0]->m_linearVelocity=b3MakeVector3(0,1,0);
break;
}
case 3:
{
m_bodies[0]->m_linearVelocity=b3MakeVector3(0,-1,0);
break;
}
case 4:
{
m_bodies[0]->m_linearVelocity=b3MakeVector3(0,0,1);
break;
}
case 5:
{
m_bodies[0]->m_linearVelocity=b3MakeVector3(0,0,-1);
break;
}
default:{}
};
m_counter++;
if (m_counter>120)
{
m_counter=0;
m_stage++;
if (m_stage>5)
m_stage=0;
}
}
B3_FORCE_INLINE void detectCollisionSphereSphere(RTB3CollisionWorld* world, int colA, int shapeIndexA, int colB, int shapeIndexB,
plContactCache* contactCache)
{
const b3Scalar radiusA = world->m_childShapes[shapeIndexA].m_radius;
const b3Scalar radiusB = world->m_childShapes[shapeIndexB].m_radius;
const b3Transform& trA = world->m_collidableTransforms[colA];
const b3Vector3& sphereALocalPos = world->m_childShapes[shapeIndexA].m_childPosition;
b3Vector3 spherePosAWorld = trA(sphereALocalPos);
//b3Vector3 spherePosAWorld = b3QuatRotate( world->m_collidableOrientations[colA], sphereALocalPos ) + (world->m_collidablePositions[colA]);
const b3Transform& trB = world->m_collidableTransforms[colB];
const b3Vector3& sphereBLocalPos = world->m_childShapes[shapeIndexB].m_childPosition;
b3Vector3 spherePosBWorld = trB(sphereBLocalPos);
//b3Vector3 spherePosBWorld = b3QuatRotate( world->m_collidableOrientations[colB], sphereBLocalPos ) + (world->m_collidablePositions[colB]);
ComputeClosestPointsSphereSphere(radiusA, spherePosAWorld, radiusB, spherePosBWorld, contactCache);
}
