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geometry: fix MTV calculation for simple polygons

This commit is contained in:
Tomasz Wlostowski 2020-10-19 21:41:26 +02:00
parent af95235f47
commit baacb9c85a
1 changed files with 34 additions and 5 deletions
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39
libs/kimath/src/geometry/shape_collisions.cpp
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@ -175,12 +175,29 @@ static inline bool Collide( const SHAPE_CIRCLE& aA, const SHAPE_LINE_CHAIN_BASE&
int aClearance, int* aActual, VECTOR2I* aLocation, VECTOR2I* aMTV )
{
int closest_dist = INT_MAX;
int closest_mtv_dist = INT_MAX;
VECTOR2I nearest;
int closest_mtv_seg = -1;
if( aB.IsClosed() && aB.PointInside( aA.GetCenter() ) )
{
closest_dist = 0;
nearest = aA.GetCenter();
closest_dist = 0;
if( aMTV )
{
for( int s = 0; s < aB.GetSegmentCount(); s++ )
{
int dist = aB.GetSegment(s).Distance( aA.GetCenter() );
if( dist < closest_mtv_dist )
{
closest_mtv_dist = dist;
closest_mtv_seg = s;
}
}
}
}
else
{
@ -222,7 +239,19 @@ static inline bool Collide( const SHAPE_CIRCLE& aA, const SHAPE_LINE_CHAIN_BASE&
SHAPE_CIRCLE cmoved( aA );
VECTOR2I f_total( 0, 0 );
for( size_t s = 0; s < aB.GetSegmentCount(); s++ )
VECTOR2I f;
if (closest_mtv_seg >= 0)
{
SEG cs = aB.GetSegment( closest_mtv_seg );
VECTOR2I np = cs.NearestPoint( aA.GetCenter() );
f = ( np - aA.GetCenter() ) + ( np - aA.GetCenter() ).Resize( aA.GetRadius() );
}
cmoved.SetCenter( cmoved.GetCenter() + f );
f_total += f;
for( int s = 0; s < aB.GetSegmentCount(); s++ )
{
VECTOR2I f = pushoutForce( cmoved, aB.GetSegment( s ), aClearance );
cmoved.SetCenter( cmoved.GetCenter() + f );
@ -529,7 +558,7 @@ static bool collideSingleShapes( const SHAPE* aA, const SHAPE* aB, int aClearanc
{
switch( aA->Type() )
{
case SH_NULL:
case SH_NULL:
return false;
case SH_RECT:
@ -583,7 +612,7 @@ static bool collideSingleShapes( const SHAPE* aA, const SHAPE* aB, int aClearanc
case SH_ARC:
return CollCaseReversed<SHAPE_CIRCLE, SHAPE_ARC>( aA, aB, aClearance, aActual, aLocation, aMTV );
case SH_NULL:
return false;
@ -832,7 +861,7 @@ static bool collideShapes( const SHAPE* aA, const SHAPE* aB, int aClearance, int
{
return collideSingleShapes( aA, aB, aClearance, aActual, aLocation, aMTV );
}
if( colliding )
{
if( aLocation )