reactphysics3d/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp

/********************************************************************************
* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
* Copyright (c) 2010-2016 Daniel Chappuis                                       *
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// Libraries
#include "SphereVsConvexPolyhedronAlgorithm.h"
#include "SAT/SATAlgorithm.h"
#include "collision/shapes/SphereShape.h"
#include "collision/shapes/ConvexMeshShape.h"

// We want to use the ReactPhysics3D namespace
using namespace reactphysics3d;

bool SphereVsConvexPolyhedronAlgorithm::testCollision(const NarrowPhaseInfo* narrowPhaseInfo,
                                                ContactManifoldInfo& contactManifoldInfo) {

    // Get the local-space to world-space transforms
    const Transform& transform1 = narrowPhaseInfo->shape1ToWorldTransform;
    const Transform& transform2 = narrowPhaseInfo->shape2ToWorldTransform;

    // First, we run the GJK algorithm
    GJKAlgorithm gjkAlgorithm;
    GJKAlgorithm::GJKResult result = gjkAlgorithm.testCollision(narrowPhaseInfo, contactManifoldInfo);

    // If we have found a contact point inside the margins (shallow penetration)
    if (result == GJKAlgorithm::GJKResult::COLLIDE_IN_MARGIN) {

        // Return true
        return true;
    }

    // If we have overlap even without the margins (deep penetration)
    if (result == GJKAlgorithm::GJKResult::INTERPENETRATE) {

        // Run the SAT algorithm to find the separating axis and compute contact point
        SATAlgorithm satAlgorithm;
        return satAlgorithm.testCollision(narrowPhaseInfo, contactManifoldInfo);
    }

    return false;
}