feat: add ShapeCast function #247
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zOadT
commented
Aug 4, 2023
src/collision/Distance.ts
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| const vertices = simplex.m_v; | ||
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| // Get support point in -r direction | ||
| const indexA = proxyA.getSupport(Rot.mulTVec2(xfA.q, Vec2.neg(r))); |
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BTW: In theory we could also write
const indexA = proxyA.getSupport(Rot.mulTVec2(xfA.q, r).neg());
Creates a Vec2 object less, but I don't think its worth it?
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Yes, it's ok, I'm changing vector functions anyway
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Think I found the problem, the test is wrong. Will try to fix it tomorrow! |
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Works now, but the example has to be made a bit more accessible |
shakiba
reviewed
Aug 5, 2023
| // GJK-raycast | ||
| // Algorithm by Gino van den Bergen. | ||
| // "Smooth Mesh Contacts with GJK" in Game Physics Pearls. 2010 | ||
| export const ShapeCast = function(output: ShapeCastOutput, input: ShapeCastInput): boolean { |
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could we put this in its own file?
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We would only have to export Simplex from Distance.ts. Would that be ok? Or should I move Simplex into its own file?
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Nevermind actually, this is good, thanks
shakiba
approved these changes
Aug 5, 2023
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This is part of Box2d 2.4.1. There is currently a bug in my implementation, will take a look at it later again.