08/08/2017 – OBB corners and OBBvsOBB collisions

  • Swapped the implementation fo the OBB RotateCorners function to take in the orientation of the object instead of the rotational velocity
    • Appears to have fixed the problem of the corners not being in the correct position but being visualised in the correct place
    • May require further work
  • Created a new environment to test the OBB OBB collision in isolation
    • The first cross product axis to test is returning (0,0,0)
      • This means the penetration is 0
    • Upon further testing the marked axes are problem ones when the boxes have no rotations
    • When the boxes have rotaions the tested axes with progressively smaller penetrations (White lines) and final minimum penentration axis (Red line) are correct
    • Added an if statement that blocks the collision detection along an axis that had a magnitude of 0, this means a vector of (0,0,0)
      • Additionally by multiplying the axis penetration by -1 we dont end up with the maximum axis of penetration as -8 is less than -1. This was causing an error ir the minimum axis.
        • This menat that when teh collision resolution happened the two objects moved closer together.
          • To combat this when the penetration is being set we mutiply again by -1