haskal
/
kicad
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

39
libs/kimath/src/geometry/shape_collisions.cpp
View File

@ -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 aClearance, int* aActual, VECTOR2I* aLocation, VECTOR2I* aMTV )
{ {
int closest_dist = INT_MAX; int closest_dist = INT_MAX;
int closest_mtv_dist = INT_MAX;
VECTOR2I nearest; VECTOR2I nearest;
int closest_mtv_seg = -1;
if( aB.IsClosed() && aB.PointInside( aA.GetCenter() ) ) if( aB.IsClosed() && aB.PointInside( aA.GetCenter() ) )
{ {
closest_dist = 0;
nearest = aA.GetCenter(); 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 else
{ {
@ -222,7 +239,19 @@ static inline bool Collide( const SHAPE_CIRCLE& aA, const SHAPE_LINE_CHAIN_BASE&
SHAPE_CIRCLE cmoved( aA ); SHAPE_CIRCLE cmoved( aA );
VECTOR2I f_total( 0, 0 ); 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 ); VECTOR2I f = pushoutForce( cmoved, aB.GetSegment( s ), aClearance );
cmoved.SetCenter( cmoved.GetCenter() + f ); cmoved.SetCenter( cmoved.GetCenter() + f );
@ -529,7 +558,7 @@ static bool collideSingleShapes( const SHAPE* aA, const SHAPE* aB, int aClearanc
{ {
switch( aA->Type() ) switch( aA->Type() )
{ {
case SH_NULL: case SH_NULL:
return false; return false;
case SH_RECT: case SH_RECT:
@ -583,7 +612,7 @@ static bool collideSingleShapes( const SHAPE* aA, const SHAPE* aB, int aClearanc
case SH_ARC: case SH_ARC:
return CollCaseReversed<SHAPE_CIRCLE, SHAPE_ARC>( aA, aB, aClearance, aActual, aLocation, aMTV ); return CollCaseReversed<SHAPE_CIRCLE, SHAPE_ARC>( aA, aB, aClearance, aActual, aLocation, aMTV );
case SH_NULL: case SH_NULL:
return false; 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 ); return collideSingleShapes( aA, aB, aClearance, aActual, aLocation, aMTV );
} }
if( colliding ) if( colliding )
{ {
if( aLocation ) if( aLocation )