Fixed bugs on polygon angle constraints.

QuarkPhysics/qcollision.cpp

@@ -192,6 +192,7 @@ void QCollision::CircleAndPolyline(vector<QParticle *> &circleParticles, vector<
 	D. If the circle particle is not within the polyline and the radius value is greater than 0.5, a collision edge is queried with a distance 
 	test between the circle diameter and the edges of the nearest particle.
 	*/
+
 
 	vector< vector<QParticle*> > nearestSides;
 
@@ -275,6 +276,8 @@ void QCollision::CircleAndPolyline(vector<QParticle *> &circleParticles, vector<
 
 			float minDistance=-QWorld::MAX_WORLD_SIZE;
 
+			float maxIntersectionDistance=-QWorld::MAX_WORLD_SIZE;
+
 			for( int n=0;n<nearestSides.size();n++ ){ 
 				QParticle *sA=nearestSides[n][0];
 				QParticle *sB=nearestSides[n][1];
@@ -308,13 +311,15 @@ void QCollision::CircleAndPolyline(vector<QParticle *> &circleParticles, vector<
 						float radius=pA->GetRadius();
 						QVector bridgeVec=pA->GetGlobalPosition()-sAPos;
 						float dist=bridgeVec.Dot( sideNormal );
+						float distIntersection=(intersection-pA->GetGlobalPosition()).Length();
+						//pA->GetOwnerMesh()->GetOwnerBody()->GetWorld()->gizmos.push_back(new QGizmoLine(pA->GetGlobalPosition(),pA->GetGlobalPosition()+rayUnit*16,true ) );
 						if(dist<0 && dist>minDistance){
 							minDistance=dist;
 							normal=sideNormal;
 							penetration=dist-radius;
 							collidedSideIndex=n;
-							/* pA->GetOwnerMesh()->GetOwnerBody()->GetWorld()->gizmos.push_back(new QGizmoLine(pA->GetGlobalPosition(),pA->GetGlobalPosition()+rayUnit*64,true ) );
-							pA->GetOwnerMesh()->GetOwnerBody()->GetWorld()->gizmos.push_back(new QGizmoLine(sAPos,sBPos,false ) ); */
+							//pA->GetOwnerMesh()->GetOwnerBody()->GetWorld()->gizmos.push_back(new QGizmoLine(pA->GetGlobalPosition(),pA->GetGlobalPosition()+rayUnit*16,true ) );
+							//pA->GetOwnerMesh()->GetOwnerBody()->GetWorld()->gizmos.push_back(new QGizmoLine(sAPos,sBPos,false ) );
 						}
 					}
 				}else{

QuarkPhysics/qmesh.cpp

@@ -201,6 +201,39 @@ void QMesh::ApplyAngleConstraintsToPolygon()
 		return;
 	}
 
+	//Intersection Test
+	bool polygonIntersection=false;
+	for(int i=0;i<polygon.size();++i ){
+		int ni=(i+1)%polygon.size();
+		QParticle* d1A=polygon[i];
+		QParticle* d1B=polygon[ (i+1)%polygon.size() ];
+		for(int n=i+1;n<polygon.size();++n ){
+			if(n==i || n==ni || n==(i-1+polygon.size())%polygon.size() )continue;
+			QParticle* d2A=polygon[n];
+			QParticle* d2B=polygon[ (n+1)%polygon.size() ];
+
+			QVector intersection=QCollision::LineIntersectionLine(d1A->GetGlobalPosition(),d1B->GetGlobalPosition(),d2A->GetGlobalPosition(),d2B->GetGlobalPosition() );
+
+			if(intersection.isNaN()==false ){
+				d1A->GetOwnerMesh()->GetOwnerBody()->GetWorld()->GetGizmos()->push_back(new QGizmoCircle(intersection,5.0) );
+				polygonIntersection=true;
+				break;
+			}
+		}
+
+	}
+	if(polygonIntersection==true){
+		//cout<<"there is line intersection in polygon"<<endl;
+		pair<QVector,float> averagePosRot=QMesh::GetAveragePositionAndRotation(polygon);
+		vector<QVector> matchingShape=QMesh::GetMatchingParticlePositions(polygon,averagePosRot.first,averagePosRot.second);
+		for(int i=0;i<matchingShape.size();i++ ){
+			QVector force=(matchingShape[i]-polygon[i]->GetGlobalPosition())*0.2;
+			polygon[i]->ApplyForce(force );
+			lastPolygonCornerAngles.clear();
+			return;
+		}
+	}
+
 	bool beginToSaveAngles=false;
 
 	if (lastPolygonCornerAngles.size()!=polygon.size() ){

QuarkPhysics/qworld.cpp

@@ -901,19 +901,17 @@ vector<QCollision::Contact*> QWorld::GetCollisions(QBody *bodyA, QBody *bodyB){
 				QMesh *polylineMesh=meshA->collisionBehavior==QMesh::POLYLINE ? meshA:meshB;
 				QMesh *polygonMesh=meshA->collisionBehavior==QMesh::POLYGONS ? meshA:meshB;
 				for(int b=0;b<polygonMesh->GetSubConvexPolygonCount();b++){
-					//QCollision::PolygonAndPolygon(polylineMesh->subConvexPolygons[a],polygonMesh->subConvexPolygons[b],contactList);
 					QCollision::CircleAndPolygon(polylineMesh->polygon,polygonMesh->GetSubConvexPolygonAt(b),contactList);
 					QCollision::PolylineAndPolygon(polylineMesh->polygon,polygonMesh->GetSubConvexPolygonAt(b),contactList);
 				}
 			}else if(QMesh::CheckCollisionBehaviors(meshA,meshB,QMesh::POLYLINE, QMesh::POLYLINE )){
 
 
 				if(bodyA->simulationModel==QBody::SimulationModels::MASS_SPRING && bodyB->simulationModel==QBody::SimulationModels::MASS_SPRING){
-					QCollision::CircleAndCircle(meshA->polygon,meshB->polygon,bboxB, contactList);
+					//QCollision::CircleAndCircle(meshA->polygon,meshB->polygon,bboxB, contactList);
 					QCollision::CircleAndPolyline(meshA->polygon,meshB->polygon,bboxB,contactList);
 					QCollision::CircleAndPolyline(meshB->polygon,meshA->polygon,bboxA, contactList);
-					/* QCollision::PolylineAndPolygon(meshA->polygon,meshB->polygon,contactList);
-						QCollision::PolylineAndPolygon(meshB->polygon,meshA->polygon,contactList); */
+
 
 				}
 
@@ -1055,16 +1053,7 @@ bool QWorld::SortBodiesVertical(const QBody *bodyA, const QBody *bodyB)
 
 
 	//Apply The Shape Matching Feature to Soft Bodies
-	/* for(auto body:bodies){
-		if(body->isSleeping)
-			continue;
-		if(body->GetMode()!=QBody::STATIC && body->GetSimulationModel()!=QBody::SimulationModels::RIGID_BODY){
-			QSoftBody *sBody=static_cast<QSoftBody*>(body);
-			if(sBody->GetShapeMatchingEnabled()){
-				sBody->ApplyShapeMatching();	
-			 }
-		}
-	} */
+
 	 //Other Soft Body Constraints
 	 for(auto body:bodies){
 
@@ -1092,12 +1081,9 @@ bool QWorld::SortBodiesVertical(const QBody *bodyA, const QBody *bodyB)
 					 spring->Update(sBody->GetRigidity()*ts,sBody->GetPassivationOfInternalSpringsEnabled());
 				 }
 			 }
-
-
-
-
-
+
 		 }
+
 	 }
 
 	 for(auto spring:springs){

examples/examplesceneblobs.cpp

@@ -34,7 +34,7 @@
 ExampleSceneBlobs::ExampleSceneBlobs(QVector sceneSize):QExampleScene(sceneSize)
 {
 
-	world->SetIterationCount(10);
+	world->SetIterationCount(2);
 
 	// Floor and walls
 	QBody *floor=new QBody();
@@ -59,12 +59,12 @@ ExampleSceneBlobs::ExampleSceneBlobs(QVector sceneSize):QExampleScene(sceneSize)
 void ExampleSceneBlobs::OnKeyPressed(sf::Keyboard::Key key)
 {
 	if(key==sf::Keyboard::Space){
-		QSoftBody *griddedPressuredBody=new QSoftBody();
-		griddedPressuredBody->AddMesh( QMesh::CreateWithPolygon(64,16,QVector::Zero(),-1 ,true,true) );
-		griddedPressuredBody->SetRigidity(0.5f)->SetPosition(mousePos)->SetMass(0.5f);
-		griddedPressuredBody->SetAreaPreservingEnabled(true)->SetAreaPreservingRate(0.7);
-		//griddedPressuredBody->SetSelfCollisionsEnabled(true)->SetSelfCollisionsSpecifiedRadius(6.0f);
-		world->AddBody(griddedPressuredBody);
+		QSoftBody *pressureBody=new QSoftBody();
+		pressureBody->AddMesh( QMesh::CreateWithPolygon(64,24,QVector::Zero(),-1 ,true,true) );
+		pressureBody->SetRigidity(0.5f)->SetPosition(mousePos)->SetMass(0.5f);
+		pressureBody->SetAreaPreservingEnabled(true)->SetAreaPreservingRate(0.7);
+		pressureBody->SetSelfCollisionsEnabled(true)->SetSelfCollisionsSpecifiedRadius(6.0f);
+		world->AddBody(pressureBody);
 	}
 }