97 lines
2.8 KiB
C++
97 lines
2.8 KiB
C++
/*
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* Collision.cpp
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*
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* Copyright (C) 2009 Matthias Schiffer <matthias@gamezock.de>
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*
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* This program is free software: you can redistribute it and/or modify it
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* under the terms of the GNU Lesser General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "Collision.h"
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namespace Zoom {
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vmml::vec3f Collision::projectToEdge(const vmml::vec3f& p, const vmml::vec3f& v1, const vmml::vec3f& v2) {
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vmml::vec3f pVec = p - v1;
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vmml::vec3f edge = v2 - v1;
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float lengthSq = edge.squared_length();
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float edgeProj = vmml::dot(edge, pVec);
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if(edgeProj < 0) return v1;
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if(edgeProj > lengthSq) return v2;
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return v1 + (edgeProj/lengthSq)*edge;
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}
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vmml::vec3f Collision::projectToNearestEdge(const vmml::vec3f& p, const Triangle &t) {
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vmml::vec3f p1 = projectToEdge(p, t.getVertex(0), t.getVertex(1));
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vmml::vec3f p2 = projectToEdge(p, t.getVertex(1), t.getVertex(2));
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vmml::vec3f p3 = projectToEdge(p, t.getVertex(2), t.getVertex(0));
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if(p.squared_distance(p1) < p.squared_distance(p2) && p.squared_distance(p1) < p.squared_distance(p3))
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return p1;
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else if(p.squared_distance(p2) < p.squared_distance(p3))
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return p2;
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else
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return p3;
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}
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bool Collision::test(const Triangle &t, const MathUtil::Ray &ray, float *distance) {
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vmml::vec3f edge1 = t.getVertex(1) - t.getVertex(0);
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vmml::vec3f edge2 = t.getVertex(2) - t.getVertex(0);
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vmml::vec3f pvec = ray.getDirection().cross(edge2);
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float det = vmml::dot(edge1, pvec);
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if(det < MathUtil::EPSILON)
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return false;
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vmml::vec3f tvec = ray.getVertex() - t.getVertex(0);
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float u = vmml::dot(pvec, tvec);
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if(u < 0 || u > det)
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return false;
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vmml::vec3f qvec = tvec.cross(edge1);
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float v = vmml::dot(ray.getDirection(), qvec);
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if(v < 0 || u+v > det)
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return false;
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if(distance)
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*distance = vmml::dot(edge2, qvec) / det;
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return true;
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}
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bool Collision::test(const Triangle &t, const vmml::vec3f &m, float r, const vmml::vec3f &move) {
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float distance;
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if(test(t, MathUtil::Ray(m - r*t.computeNormal(), move), &distance) && distance > -MathUtil::EPSILON) {
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if(distance < 1)
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return true;
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else
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return false;
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}
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vmml::vec3f collisionPoint = projectToNearestEdge(m, t);
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vmml::vec3f movedPoint = projectToEdge(m, collisionPoint, collisionPoint - move);
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if(m.squared_distance(movedPoint) < r*r)
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return true;
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else
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return false;
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}
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}
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