Commit Graph

28 Commits (384293a853a3ac3f3a10ed35026077c4f194daf6)

Author SHA1 Message Date
Martin Felis 71bed07ed1 sconvcol: querying for support vertex now needs transformation of the hull. 2021-11-16 14:53:46 +01:00
Martin Felis b19a74dcdf WIP: edge-edge collision with supplied transforms. 2021-11-07 21:57:06 +01:00
Martin Felis 7830840d81 Refactored HullScene making tests easier to visualize. 2021-11-07 20:19:25 +01:00
Martin Felis 1adf0c611f WIP: explicit transforms refactor. 2021-11-07 17:00:44 +01:00
Martin Felis cf87db975c WIP: adjusting sch_hull_sat API to allow providing transforms. 2021-11-07 11:31:24 +01:00
Martin Felis 87f07397d2 Working on edge-edge contact manifold generation. Possibly found issue for face-face contact generation. 2021-08-25 22:29:18 +02:00
Martin Felis 0e378b6a60 Added face-face contact manifold computation to sconvcol. 2021-08-25 21:20:03 +02:00
Martin Felis 4834b483ef Added sch_hull_sat to check whether we can find a separating axes between two hulls. 2021-05-30 00:19:57 +02:00
Martin Felis 8aa06fb3d6 Hull builder can now build hulls including various validations. 2021-05-28 16:45:41 +02:00
Martin Felis d8a67db2a9 Check vor concave vertices when building convex hull objects 2021-05-27 14:18:21 +02:00
Martin Felis 82de09ad8b Updated catch2 2021-05-27 14:17:30 +02:00
Martin Felis 9356ec14f8 Initial work on a convex hull builder object. 2021-05-26 11:33:54 +02:00
Martin Felis d2eca6f19b Added initial works on sconvcol - Simple Convex Collision manifold calculator 2020-12-12 23:22:57 +01:00
Martin Felis d01417e8c9 Implemented tangential friction. Yay! 2020-11-24 22:34:28 +01:00
Martin Felis b00e78cd9c Storing MInv * jacT instead of each separately, fixed failing due to size of spheres being now the diameter instead of radius. 2020-11-24 21:45:38 +01:00
Martin Felis 0624a7e1ac Properly allowing for rotated box vs plane checking. 2020-11-20 21:47:17 +01:00
Martin Felis cd57d8aa7e Inital works of Box vs Plan collision. 2020-11-20 14:17:15 +01:00
Martin Felis 159400b722 Removed debug output in tests. 2020-11-20 10:48:56 +01:00
Martin Felis 3377de6b81 Explicitly formulating bias term (missed some changes) 2020-11-15 21:47:25 +01:00
Martin Felis a9d1aebf44 Properly compute impulse for simple cases (sphere on plane, sphere vs sphere). 2020-11-13 01:23:13 +01:00
Martin Felis 5037eda185 Checking constraint jacobian and normal directions. 2020-11-08 20:51:45 +01:00
Martin Felis 3fac49ed9e Added restitution to CreateSphereBody, debugging impulse computation. 2020-11-08 12:50:12 +01:00
Martin Felis 60ec46d090 Fixed build of tests 2020-11-08 12:49:43 +01:00
Martin Felis 823072ad72 Refactoring, added draft for double sphere on ground test. 2020-10-09 21:53:56 +02:00
Martin Felis fff003ec24 Implemented contact impulse calculation. 2020-10-09 14:01:36 +02:00
Martin Felis a881ad5ae2 Added Collision Test Sphere vs Sphere, Collision returns for each body a separate contact point. 2020-10-06 20:22:27 +02:00
Martin Felis c02255d64c Added plane vs sphere penetration test. 2020-10-05 21:47:25 +02:00
Martin Felis 5b6d7ec170 Initial commit 2020-10-03 22:55:14 +02:00