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Daniel Chappuis 2013-04-24 22:29:31 +02:00
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src/collision/narrowphase/SphereVsSphereAlgorithm.cpp.autosave
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/********************************************************************************
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
* Copyright (c) 2010-2013 Daniel Chappuis *
*********************************************************************************
* *
* This software is provided 'as-is', without any express or implied warranty. *
* In no event will the authors be held liable for any damages arising from the *
* use of this software. *
* *
* Permission is granted to anyone to use this software for any purpose, *
* including commercial applications, and to alter it and redistribute it *
* freely, subject to the following restrictions: *
* *
* 1. The origin of this software must not be misrepresented; you must not claim *
* that you wrote the original software. If you use this software in a *
* product, an acknowledgment in the product documentation would be *
* appreciated but is not required. *
* *
* 2. Altered source versions must be plainly marked as such, and must not be *
* misrepresented as being the original software. *
* *
* 3. This notice may not be removed or altered from any source distribution. *
* *
********************************************************************************/
// Libraries
#include "SphereVsSphereAlgorithm.h"
#include "../../collision/shapes/SphereShape.h"
// We want to use the ReactPhysics3D namespace
using namespace reactphysics3d;
// Constructor
SphereVsSphereAlgorithm::SphereVsSphereAlgorithm(MemoryAllocator& memoryAllocator)
:NarrowPhaseAlgorithm(memoryAllocator) {
}
// Destructor
SphereVsSphereAlgorithm::~SphereVsSphereAlgorithm() {
}
bool SphereVsSphereAlgorithm::testCollision(const CollisionShape* collisionShape1,
const Transform& transform1,
const CollisionShape* collisionShape2,
const Transform& transform2,
ContactPointInfo*& contactInfo) {
// Get the sphere collision shapes
const SphereShape* sphereShape1 = dynamic_cast<const SphereShape*>(collisionShape1);
const SphereShape* sphereShape2 = dynamic_cast<const SphereShape*>(collisionShape2);
// Compute the distance between the centers
Vector3 vectorBetweenCenters = transform2.getPosition() - transform1.getPosition();
decimal squaredDistanceBetweenCenters = vectorBetweenCenters.lengthSquare();
// Compute the sum of the radius
decimal sumRadius = sphereShape1->getRadius() + sphereShape2->getRadius();
// If the sphere collision shapes intersect
if (squaredDistanceBetweenCenters <= sumRadius * sumRadius) {
Vector3 centerSphere2InBody1LocalSpace = transform1.inverse() * transform2.getPosition();
Vector3 centerSphere1InBody2LocalSpace = transform2.inverse() * transform1.getPosition();
Vector3 intersectionOnBody1 = sphereShape1->getRadius() *
centerSphere2InBody1LocalSpace.getUnit();
Vector3 intersectionOnBody2 = sphereShape2->getRadius() *
centerSphere1InBody2LocalSpace.getUnit();
decimal penetrationDepth = sumRadius - std::sqrt(squaredDistanceBetweenCenters);
// Create the contact info object
contactInfo = new (mMemoryAllocator.allocate(sizeof(ContactPointInfo))) ContactPointInfo(
vectorBetweenCenters.getUnit(), penetrationDepth,
intersectionOnBody1, intersectionOnBody2);
return true;
}
return false;
}