diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/Collision.cpp | 52 |
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 { |