9333d0e690
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@463 92aac97c-a6ce-11dd-a772-7fcde58d38e6
74 lines
4.1 KiB
C++
74 lines
4.1 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010-2012 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 "../../colliders/SphereCollider.h"
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// We want to use the ReactPhysics3D namespace
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using namespace reactphysics3d;
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// Constructor
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SphereVsSphereAlgorithm::SphereVsSphereAlgorithm(CollisionDetection& collisionDetection)
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:NarrowPhaseAlgorithm(collisionDetection) {
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}
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// Destructor
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SphereVsSphereAlgorithm::~SphereVsSphereAlgorithm() {
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}
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bool SphereVsSphereAlgorithm::testCollision(const Collider* collider1, const Transform& transform1,
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const Collider* collider2, const Transform& transform2, ContactInfo*& contactInfo) {
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assert(collider1 != collider2);
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// Get the sphere colliders
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const SphereCollider* sphereCollider1 = dynamic_cast<const SphereCollider*>(collider1);
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const SphereCollider* sphereCollider2 = dynamic_cast<const SphereCollider*>(collider2);
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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 = sphereCollider1->getRadius() + sphereCollider2->getRadius();
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// If the sphere colliders intersect
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if (squaredDistanceBetweenCenters <= sumRadius * sumRadius) {
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Vector3 centerSphere2InBody1LocalSpace = transform1.inverse() * transform2.getPosition();
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Vector3 centerSphere1InBody2LocalSpace = transform2.inverse() * transform1.getPosition();
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Vector3 intersectionOnBody1 = sphereCollider1->getRadius() * centerSphere2InBody1LocalSpace.getUnit();
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Vector3 intersectionOnBody2 = sphereCollider2->getRadius() * centerSphere1InBody2LocalSpace.getUnit();
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decimal penetrationDepth = sumRadius - std::sqrt(squaredDistanceBetweenCenters);
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contactInfo = new ContactInfo(collider1->getBodyPointer(), collider2->getBodyPointer(), vectorBetweenCenters.getUnit(),
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penetrationDepth, intersectionOnBody1, intersectionOnBody2, transform1, transform2);
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return true;
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}
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return false;
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} |