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-rw-r--r--src/Collision.cpp52
1 files changed, 37 insertions, 15 deletions
diff --git a/src/Collision.cpp b/src/Collision.cpp
index e552643..0161d5d 100644
--- a/src/Collision.cpp
+++ b/src/Collision.cpp
@@ -64,18 +64,31 @@ bool Collision::testEdge(const vmml::vec3f &v1, const vmml::vec3f &v2, const vmm
if(rootSq < 0)
return false;
- float root = std::sqrt(rootSq);
+ float minRoot = -a - b_2;
+ float maxRoot = a*MathUtil::EPSILON - b_2;
- *distance = -(b_2 + root)/a;
+ if(minRoot < 0)
+ minRoot = 0;
+ if(maxRoot < 0)
+ return false;
- float edgeFact = edge.dot(m + move*(*distance) - v1);
- if(edgeFact < 0 || edgeFact > edge.squared_length())
+ if(rootSq < minRoot*minRoot || rootSq >= maxRoot*maxRoot)
return false;
- if(*distance > -MathUtil::EPSILON && *distance < 1)
- return true;
- else
+ minRoot = a*(edge.dot(m - v1) - edge.squared_length())/edge.dot(move) - b_2;
+ maxRoot = a*edge.dot(m - v1)/edge.dot(move) - b_2;
+
+ if(minRoot < 0)
+ minRoot = 0;
+ if(maxRoot < 0)
+ return false;
+
+ if(rootSq < minRoot*minRoot || rootSq > maxRoot*maxRoot)
return false;
+
+ *distance = -(b_2 + std::sqrt(rootSq))/a;
+
+ return true;
}
bool Collision::testVertex(const vmml::vec3f &v, const vmml::vec3f &m, float r, const vmml::vec3f &move, float *distance) {
@@ -87,24 +100,33 @@ bool Collision::testVertex(const vmml::vec3f &v, const vmml::vec3f &m, float r,
if(rootSq < 0)
return false;
- float root = std::sqrt(rootSq);
+ float minRoot = -a - b_2;
+ float maxRoot = a*MathUtil::EPSILON - b_2;
- *distance = -(b_2 + root)/a;
+ if(minRoot < 0)
+ minRoot = 0;
+ if(maxRoot < 0)
+ return false;
- if(*distance > -MathUtil::EPSILON && *distance < 1)
- return true;
- else
+ if(rootSq <= minRoot*minRoot || rootSq >= maxRoot*maxRoot)
return false;
+
+ *distance = -(b_2 + std::sqrt(rootSq))/a;
+
+ return true;
}
bool Collision::test(const Triangle &t, const vmml::vec3f &m, float r, const vmml::vec3f &move, float *distance) {
+ if(move.squared_length() == 0)
+ return false;
+
float d;
if(test(t, MathUtil::Ray(m - r*t.computeNormal(), move), &d) && d > -MathUtil::EPSILON) {
- if(distance)
- *distance = d;
-
if(d < 1) {
+ if(distance)
+ *distance = d;
+
return true;
}
else {