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Fix issue with raycasting in cylinder shape

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This commit is contained in:
Daniel Chappuis 2014-09-20 10:52:42 +02:00
parent c07a2dc9a2
commit 188251afd4
1 changed files with 16 additions and 18 deletions
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34
src/collision/shapes/CylinderShape.cpp
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@ -125,10 +125,16 @@ bool CylinderShape::raycast(const Ray& ray, ProxyShape* proxyShape) const {
// If the ray intersects with the "p" endcap of the cylinder // If the ray intersects with the "p" endcap of the cylinder
if (mDotD < decimal(0.0)) { if (mDotD < decimal(0.0)) {
return true;
t = -mDotN;
return (t >= decimal(0.0));
} }
else if (mDotD > dDotD) { // If the ray intersects with the "q" endcap of the cylinder else if (mDotD > dDotD) { // If the ray intersects with the "q" endcap of the cylinder
return true;
t = (nDotD - mDotN);
return (t >= decimal(0.0));
} }
else { // If the origin is inside the cylinder, we return no hit else { // If the origin is inside the cylinder, we return no hit
return false; return false;
@ -154,7 +160,7 @@ bool CylinderShape::raycast(const Ray& ray, ProxyShape* proxyShape) const {
t = -mDotD / nDotD; t = -mDotD / nDotD;
// Keep the intersection if the it is inside the cylinder radius // Keep the intersection if the it is inside the cylinder radius
return (k + t * (decimal(2.0) * mDotN + t) <= decimal(0.0)); return (t >= decimal(0.0) && k + t * (decimal(2.0) * mDotN + t) <= decimal(0.0));
} }
else if (value > dDotD) { // If the intersection is outside the cylinder on the "q" side else if (value > dDotD) { // If the intersection is outside the cylinder on the "q" side
@ -165,8 +171,8 @@ bool CylinderShape::raycast(const Ray& ray, ProxyShape* proxyShape) const {
t = (dDotD - mDotD) / nDotD; t = (dDotD - mDotD) / nDotD;
// Keep the intersection if it is inside the cylinder radius // Keep the intersection if it is inside the cylinder radius
return (k + dDotD - decimal(2.0) * mDotD + t * (decimal(2.0) * (mDotN - nDotD) + t) return (t >= decimal(0.0) && k + dDotD - decimal(2.0) * mDotD + t * (decimal(2.0) *
<= decimal(0.0)); (mDotN - nDotD) + t) <= decimal(0.0));
} }
t = t0; t = t0;
@ -226,9 +232,7 @@ bool CylinderShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape
raycastInfo.proxyShape = proxyShape; raycastInfo.proxyShape = proxyShape;
raycastInfo.distance = t; raycastInfo.distance = t;
raycastInfo.worldPoint = localToWorldTransform * localHitPoint; raycastInfo.worldPoint = localToWorldTransform * localHitPoint;
Vector3 v = localHitPoint - p; Vector3 normalDirection(0, decimal(-1), 0);
Vector3 w = v.dot(d) * d.getUnit();
Vector3 normalDirection = (localHitPoint - (p + w)).getUnit();
raycastInfo.worldNormal = localToWorldTransform.getOrientation() * normalDirection; raycastInfo.worldNormal = localToWorldTransform.getOrientation() * normalDirection;
return true; return true;
@ -247,9 +251,7 @@ bool CylinderShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape
raycastInfo.proxyShape = proxyShape; raycastInfo.proxyShape = proxyShape;
raycastInfo.distance = t; raycastInfo.distance = t;
raycastInfo.worldPoint = localToWorldTransform * localHitPoint; raycastInfo.worldPoint = localToWorldTransform * localHitPoint;
Vector3 v = localHitPoint - p; Vector3 normalDirection(0, decimal(1.0), 0);
Vector3 w = v.dot(d) * d.getUnit();
Vector3 normalDirection = (localHitPoint - (p + w)).getUnit();
raycastInfo.worldNormal = localToWorldTransform.getOrientation() * normalDirection; raycastInfo.worldNormal = localToWorldTransform.getOrientation() * normalDirection;
return true; return true;
@ -290,9 +292,7 @@ bool CylinderShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape
raycastInfo.proxyShape = proxyShape; raycastInfo.proxyShape = proxyShape;
raycastInfo.distance = t; raycastInfo.distance = t;
raycastInfo.worldPoint = localToWorldTransform * localHitPoint; raycastInfo.worldPoint = localToWorldTransform * localHitPoint;
Vector3 v = localHitPoint - p; Vector3 normalDirection(0, decimal(-1.0), 0);
Vector3 w = v.dot(d) * d.getUnit();
Vector3 normalDirection = (localHitPoint - (p + w)).getUnit();
raycastInfo.worldNormal = localToWorldTransform.getOrientation() * normalDirection; raycastInfo.worldNormal = localToWorldTransform.getOrientation() * normalDirection;
return true; return true;
@ -319,9 +319,7 @@ bool CylinderShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape
raycastInfo.proxyShape = proxyShape; raycastInfo.proxyShape = proxyShape;
raycastInfo.distance = t; raycastInfo.distance = t;
raycastInfo.worldPoint = localToWorldTransform * localHitPoint; raycastInfo.worldPoint = localToWorldTransform * localHitPoint;
Vector3 v = localHitPoint - p; Vector3 normalDirection(0, decimal(1.0), 0);
Vector3 w = v.dot(d) * d.getUnit();
Vector3 normalDirection = (localHitPoint - (p + w)).getUnit();
raycastInfo.worldNormal = localToWorldTransform.getOrientation() * normalDirection; raycastInfo.worldNormal = localToWorldTransform.getOrientation() * normalDirection;
return true; return true;
@ -340,7 +338,7 @@ bool CylinderShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape
raycastInfo.distance = t; raycastInfo.distance = t;
raycastInfo.worldPoint = localToWorldTransform * localHitPoint; raycastInfo.worldPoint = localToWorldTransform * localHitPoint;
Vector3 v = localHitPoint - p; Vector3 v = localHitPoint - p;
Vector3 w = v.dot(d) * d.getUnit(); Vector3 w = (v.dot(d) / d.lengthSquare()) * d;
Vector3 normalDirection = (localHitPoint - (p + w)).getUnit(); Vector3 normalDirection = (localHitPoint - (p + w)).getUnit();
raycastInfo.worldNormal = localToWorldTransform.getOrientation() * normalDirection; raycastInfo.worldNormal = localToWorldTransform.getOrientation() * normalDirection;