73 lines
4.2 KiB
C++
73 lines
4.2 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2016 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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// Libraries
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#include "SphereVsSphereAlgorithm.h"
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#include "collision/shapes/SphereShape.h"
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// We want to use the ReactPhysics3D namespace
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using namespace reactphysics3d;
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bool SphereVsSphereAlgorithm::testCollision(const NarrowPhaseInfo* narrowPhaseInfo,
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ContactManifoldInfo& contactManifoldInfo) {
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assert(narrowPhaseInfo->collisionShape1->getType() == CollisionShapeType::SPHERE);
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assert(narrowPhaseInfo->collisionShape2->getType() == CollisionShapeType::SPHERE);
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// Get the sphere collision shapes
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const SphereShape* sphereShape1 = static_cast<const SphereShape*>(narrowPhaseInfo->collisionShape1);
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const SphereShape* sphereShape2 = static_cast<const SphereShape*>(narrowPhaseInfo->collisionShape2);
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// Get the local-space to world-space transforms
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const Transform& transform1 = narrowPhaseInfo->shape1ToWorldTransform;
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const Transform& transform2 = narrowPhaseInfo->shape2ToWorldTransform;
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// Compute the distance between the centers
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Vector3 vectorBetweenCenters = transform2.getPosition() - transform1.getPosition();
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decimal squaredDistanceBetweenCenters = vectorBetweenCenters.lengthSquare();
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// Compute the sum of the radius
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decimal sumRadius = sphereShape1->getRadius() + sphereShape2->getRadius();
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// If the sphere collision shapes intersect
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if (squaredDistanceBetweenCenters < sumRadius * sumRadius) {
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Vector3 centerSphere2InBody1LocalSpace = transform1.getInverse() * transform2.getPosition();
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Vector3 centerSphere1InBody2LocalSpace = transform2.getInverse() * transform1.getPosition();
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Vector3 intersectionOnBody1 = sphereShape1->getRadius() *
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centerSphere2InBody1LocalSpace.getUnit();
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Vector3 intersectionOnBody2 = sphereShape2->getRadius() *
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centerSphere1InBody2LocalSpace.getUnit();
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decimal penetrationDepth = sumRadius - std::sqrt(squaredDistanceBetweenCenters);
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// Create the contact info object
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contactManifoldInfo.addContactPoint(vectorBetweenCenters.getUnit(), penetrationDepth,
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intersectionOnBody1, intersectionOnBody2);
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return true;
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}
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return false;
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}
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