godlike / arion

Real-time oriented 3d collision detection library

Arion

Linux

Windows

arion's Issues

Ray-casting API

Move all the related functions and classes into separate API

EPA endless loops

Create a scene with only two following bodies:

Position:
x	9.3000000000000007	
y	6.7000000000000002	
z	6	
Size vectors:
x	0.40000000596046448	
y	0.20000000298023224	
z	0.69999998807907104	

Sphere
Position:
x	8.9000000000000004	
y	6.9000000000000004	
z	6.7000000000000002	
Radius	1	

EPA will fall into the endless loop.

Add CMake install configuration

GJK Sphere Box collision is not detected

Related to Godlike/Pegasus#129

GJK does not handle same point check during simplex generation

SimpleShapeIntersectionDetector contact point calculation

Implement all the back end and front end needed for the SimpleShapeIntersectionDetector to have a CalculateContactPoints method.

EPA produces incorrect Contact Manifold for two Box shapes

If two boxes are aligned with a vector, which normalized form is { 0, 1, 0 }, such that both centers of mass are lying on the vector EPA produces incorrect contact manifold, in which at least a contact normal is incorrect.

GJK endless loops

With sphere-box collision with the precision of 1e-4 and box-box collision with the precision of 1e-10 GJK sometimes gets itself into the endless loop.
Currently, there is an endless loop detection workaround. However, an investigation is needed, in order to remove the source of the problem, or otherwise find and describe the precise reason for it.

Feature: Import Pegasus geometry functional

Improve SimpleShape intersection detection time

Feature: Incorporate Catch, GLM, GLEW, GLbinding

Make main CMake structure. Add libraries as submodules.

EPA Refactoring with new QHull

Incorporate Ray into simple shape intersection detector

Godlike/Pegasus#79

Fix build issues with g++ and clang

clang fails when compiling Release build
g++ fails to compile demo due to uninitialized property

Simples shape intersection should return contact manifold

Change SSI and SSID so that they are able to return complete contact manifold containing local and world contact points.

Build issue on g++ on windows

Related issue to Godlike/Pegasus#136

Bounding volumes refactoring

Bounding volumes classes over at Arion/include/Arion/BoundingVolumes.hpp and Arion/sources/BoundingVolumes.cpp need some refactorings and optimizations:

1. Rename indices to faces in Mesh struct -- this just makes more sense for that field;
2. Introduce POD with with Mesh mesh and std::set<std::size_t> indices fields -- they are very often passed around in tandem, so that would be convenient;
3. Make auxiliary structs, which store calculation data for bounding volume algorithms (see, for instance, OrientedBoundingBox::Box), private and rename them to something more sensible (like OBBData in the case of OrientedBoundingBox) -- they are only used inside those classes;
4. Refactor bounding volumes classes in order to not store calculation data after the calculations are over (for instance, all fields in OrientedBoundingBox except m_boxShape are not used anywhere outside the constructor) -- right now this calculation data is still stored after constructor finishes execution.

Note: this issue was carried over from here in Pegasus repo.

SSI and SSID should return contact normal from A shape perspective

EPA does not handle cases when GJK Simplex is of size 1

Use modern CMake features

Move add_library block to the beginning of the file, unify add_library blocks by using ${PROJECT_NAME}
Add library aliases for configuration-level library checking
Use PUBLIC, INTERFACE and PRIVATE sections of target_ directives to allow CMake inherit options from linked libraries

Overall using modern CMake features reduces amount of boilerplate user code required to use the library and makes it easier to read CMake files when looking for some specific library options.

Change pullapprove config

Only one person should be required in order to approve a pull request.

Feature: Make basic API from Pegasus geometry and math functional

Feature: Add CI with AppVeyor and Travis

GJK Does not detect collision

In the scene where there are two boxes, one of which is static and axis aligned, another is oriented by the {1, 1, 1} axis and moves towards the first one, the collision is not registered and not resolved.

Migrate from double to float

Rewrite all floating point calculations with float instead of double in order to improve vectorization.