Fix collision detection 'sticking'

git-svn-id: svn://cook.msm.cam.ac.uk:745/thrust3d/thrust3d@86 84d2e878-0bd5-11dd-ad15-13eda11d74c5

1 files changed, 4 insertions, 7 deletions

diff --git a/src/physics.c b/src/physics.c
index d163b01..466281d 100644
--- a/src/physics.c
+++ b/src/physics.c
@@ -88,7 +88,7 @@ int physics_point_is_inside_hull(GLfloat cx, GLfloat cy, GLfloat cz, GLfloat *fv
 
 int physics_will_collide_face(GLfloat sx, GLfloat sy, GLfloat sz, GLfloat vx, GLfloat vy, GLfloat vz,
 					GLfloat nx, GLfloat ny, GLfloat nz, GLfloat *fvert, int nfvert, Uint32 dt,
-					ModelInstance *obj, Uint32 *ttc) {
+					ModelInstance *obj, GLfloat *ttc) {
 
 	GLfloat px, py, pz;
 	GLfloat pdotn, sdotn, vdotn;
@@ -106,10 +106,7 @@ int physics_will_collide_face(GLfloat sx, GLfloat sy, GLfloat sz, GLfloat vx, GL
 	if ( vdotn == 0.0 ) return 0;		/* Collision happens infinitely far in the future */
 	t = (pdotn - sdotn) / vdotn;
 	
-	/* If the vertex is exactly on the plane, then moving away from the plane is OK */
-	if ( (t == 0.0) && (vdotn > 0.0) ) return 0;
-	
-	if ( t < 0.0 ) return 0;		/* Collided in the past */
+	if ( t <= 0.0 ) return 0;	/* Collided in the past */
 	if ( t > dt ) return 0;		/* Not going to collide this step */
 	
 	/* Boundary test */
@@ -159,7 +156,7 @@ static int physics_check_collide_all_faces(ModelInstance *obj, ModelInstance *ot
 			
 				GLfloat face[3*4];
 				int q;
-				Uint32 ttc;
+				GLfloat ttc;
 				
 				for ( q=0; q<4; q++ ) {
 					face[3*q + 0] = other->x + other->model->primitives[a]->vertices[3*((4*f)+q) + 0];
@@ -169,7 +166,7 @@ static int physics_check_collide_all_faces(ModelInstance *obj, ModelInstance *ot
 				
 				if ( physics_will_collide_face(sx, sy, sz, vx, vy, vz, nx, ny, nz, face, 4, dt, other, &ttc) != 0 ) {
 						
-					printf("collides with %s/%p\n", other->model->name, other);
+					printf("collides with %s/%p in %5.2f ms\n", other->model->name, other, ttc);
 					
 					if ( (nx == 0.0) && (ny == 0.0) && ( nz == 1.0) ) {
 						obj->x += obj->vx * ttc;