From f8b7973ba93f3d54e3bb22979d5130ddb3d64044 Mon Sep 17 00:00:00 2001
From: Swampert-zhi <1254739463@qq.com>
Date: Tue, 25 Mar 2025 15:43:04 +0800
Subject: [PATCH] fix part of bugs in 3-2_collision
---
3-2_collision/CollisionDetection.cpp | 36 +++++++++++++++++-----------
3-2_collision/CollisionDetection.h | 9 -------
2 files changed, 22 insertions(+), 23 deletions(-)
diff --git a/3-2_collision/CollisionDetection.cpp b/3-2_collision/CollisionDetection.cpp
index 11adebf..f5fe719 100644
--- a/3-2_collision/CollisionDetection.cpp
+++ b/3-2_collision/CollisionDetection.cpp
@@ -1,5 +1,8 @@
#include "CollisionDetection.h"
+#include <set>
+#include <unordered_set>
+
void CollisionDetection::computeBroadPhase(int broadPhaseMethod) {
// compute possible collisions
m_overlappingBodys.clear();
@@ -43,12 +46,21 @@ void CollisionDetection::computeNarrowPhase(int narrowPhaseMethod) {
switch (narrowPhaseMethod) {
case 0: {
// exhaustive
+
+ // set of vertex indices that penetrate a face
+ std::set<int> m_penetratingVertices;
+ // set of pairs of vertex indices that represent a penetrating edge
+ std::set<std::pair<int, int>> m_penetratingEdges;
+
// iterate through all pairs of possible collisions
- for (auto overlap : m_overlappingBodys) {
+ for (auto &overlap : m_overlappingBodys) {
std::vector<Contact> temp_contacts[2];
- // compute intersection of a with b first and intersectino
+ // compute intersection of a with b first and intersection
// of b with a and store results in temp_contacts
for (int switcher = 0; switcher < 2; switcher++) {
+ m_penetratingEdges.clear();
+ m_penetratingVertices.clear();
+
RigidObject* a =
&m_objects[(!switcher) ? overlap.first
: overlap.second];
@@ -93,17 +105,15 @@ void CollisionDetection::computeNarrowPhase(int narrowPhaseMethod) {
break;
}
case ContactType::EDGEEDGE: {
- int orderedStart = std::min(start, end);
- int orderedEnd = std::max(start, end);
- auto ret = m_penetratingEdges.insert(
- std::make_pair(orderedStart,
- orderedEnd));
+ if (start > end) {
+ std::swap(start, end);
+ }
+ auto ret = m_penetratingEdges.emplace(start, end);
+
// if not already in set
if (ret.second) {
Contact temp_col =
- findEdgeEdgeCollision(
- Va.row(orderedStart),
- Va.row(orderedEnd), Vb, Fb);
+ findEdgeEdgeCollision(Va.row(start), Va.row(end), Vb, Fb);
temp_col.a = a;
temp_col.b = b;
temp_col.type =
@@ -119,14 +129,12 @@ void CollisionDetection::computeNarrowPhase(int narrowPhaseMethod) {
}
}
}
- m_penetratingVertices.clear();
- m_penetratingEdges.clear();
}
// look for vertexFace
bool found = false;
for (int i = 0; i < 2; i++) {
- for (auto cont : temp_contacts[i]) {
+ for (const auto &cont : temp_contacts[i]) {
if (cont.type == ContactType::VERTEXFACE) {
m_contacts.push_back(cont);
found = true;
@@ -175,7 +183,7 @@ void CollisionDetection::computeNarrowPhase(int narrowPhaseMethod) {
void CollisionDetection::applyImpulse(double eps) {
// compute impulse for all contacts
- for (auto contact : m_contacts) {
+ for (const auto &contact : m_contacts) {
Eigen::Vector3d vrel_vec = contact.a->getVelocity(contact.p) -
contact.b->getVelocity(contact.p);
double vrel = contact.n.dot(vrel_vec);
diff --git a/3-2_collision/CollisionDetection.h b/3-2_collision/CollisionDetection.h
index f87e68d..5d7ada8 100644
--- a/3-2_collision/CollisionDetection.h
+++ b/3-2_collision/CollisionDetection.h
@@ -2,7 +2,6 @@
#define COLLISIONDETECTION_H
#include <igl/ray_mesh_intersect.h>
-#include <set>
#include <utility>
#include <vector>
#include "AABB.h"
@@ -139,8 +138,6 @@ class CollisionDetection {
void applyImpulse(double eps = 1.0);
void clearDataStructures() {
- m_penetratingEdges.clear();
- m_penetratingVertices.clear();
m_overlappingBodys.clear();
m_contacts.clear();
}
@@ -163,12 +160,6 @@ class CollisionDetection {
// result of broadphase, pairs of objects with possible collisions
std::vector<std::pair<size_t, size_t>> m_overlappingBodys;
- // set of vertex indices that penetrate a face, used to avoid duplicates
- std::set<int> m_penetratingVertices;
- // set of pairs of vertex indices that represent a penetrating edge, used to
- // avoid duplicates
- std::set<std::pair<int, int>> m_penetratingEdges;
-
// computed contact points
std::vector<Contact> m_contacts;
};
--
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