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// Geometric Tools, LLC
// Copyright (c) 1998-2014
// Distributed under the Boost Software License, Version 1.0.
// http://www.boost.org/LICENSE_1_0.txt
// http://www.geometrictools.com/License/Boost/LICENSE_1_0.txt
//
// File Version: 5.2.1 (2012/07/07)
#include "SphereColliders.h"
//----------------------------------------------------------------------------
SphereColliders::SphereColliders (const Sphere3f& sphere0,
const Sphere3f& sphere1)
:
mSphere0(&sphere0),
mSphere1(&sphere1),
mContactPoint(Vector3f(Mathf::MAX_REAL, Mathf::MAX_REAL, Mathf::MAX_REAL))
{
}
//----------------------------------------------------------------------------
SphereColliders::~SphereColliders ()
{
}
//----------------------------------------------------------------------------
Vector3f SphereColliders::GetContactPoint () const
{
return mContactPoint;
}
//----------------------------------------------------------------------------
float SphereColliders::Pseudodistance (float time, const Vector3f& velocity0,
const Vector3f& velocity1) const
{
Vector3f movedCenter0 = mSphere0->Center + time*velocity0;
Vector3f movedCenter1 = mSphere1->Center + time*velocity1;
Vector3f diff = movedCenter1 - movedCenter0;
float distance = diff.SquaredLength();
float rSum = mSphere0->Radius + mSphere1->Radius;
float pseudodistance = distance/(rSum*rSum) - 1.0f;
return pseudodistance;
}
//----------------------------------------------------------------------------
void SphereColliders::ComputeContactInformation (CollisionType type,
float time, const Vector3f&, const Vector3f&)
{
if (type == SEPARATED)
{
float infinity = Mathf::MAX_REAL;
mContactTime = infinity;
mContactPoint = Vector3f(infinity, infinity, infinity);
}
else if (type == TOUCHING)
{
mContactTime = time;
Vector3f diff = mSphere1->Center - mSphere0->Center;
diff.Normalize();
mContactPoint = mSphere0->Center + mSphere0->Radius*diff;
}
else if (type == OVERLAPPING)
{
// Just return the midpoint of the line segment connecting centers.
// The actual contact set is either a circle, or one sphere is
// contained in the other sphere.
mContactTime = 0.0f;
mContactPoint = 0.5f*(mSphere0->Center + mSphere1->Center);
}
else
{
assertion(false, "The type cannot be UNKNOWN.\n");
}
}
//----------------------------------------------------------------------------
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