From c7c137752c787461fb6fe3e8f05701582ef99ace Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Vladim=C3=ADr=20Vondru=C5=A1?= <mosra@centrum.cz>
Date: Sat, 28 Apr 2012 13:24:07 +0200
Subject: [PATCH] Physics: Capsule % Sphere collision.

---
 src/Physics/Capsule.cpp          |  7 +++++++
 src/Physics/Capsule.h            |  5 +++++
 src/Physics/Test/CapsuleTest.cpp | 16 ++++++++++++++++
 src/Physics/Test/CapsuleTest.h   |  1 +
 4 files changed, 29 insertions(+)

diff --git a/src/Physics/Capsule.cpp b/src/Physics/Capsule.cpp
index 85d8203c2..f6262222b 100644
--- a/src/Physics/Capsule.cpp
+++ b/src/Physics/Capsule.cpp
@@ -31,6 +31,8 @@ void Capsule::applyTransformation(const Matrix4& transformation) {
 bool Capsule::collides(const AbstractShape* other) const {
     if(other->type() == Type::Point)
         return *this % *static_cast<const Point*>(other);
+    if(other->type() == Type::Sphere)
+        return *this % *static_cast<const Sphere*>(other);
 
     return AbstractShape::collides(other);
 }
@@ -40,4 +42,9 @@ bool Capsule::operator%(const Point& other) const {
         Math::pow<2>(transformedRadius());
 }
 
+bool Capsule::operator%(const Sphere& other) const {
+    return Distance::lineSegmentPointSquared(transformedA(), transformedB(), other.transformedPosition()) <
+        Math::pow<2>(transformedRadius()+other.transformedRadius());
+}
+
 }}
diff --git a/src/Physics/Capsule.h b/src/Physics/Capsule.h
index 0cc953fad..e1e2a552b 100644
--- a/src/Physics/Capsule.h
+++ b/src/Physics/Capsule.h
@@ -21,6 +21,7 @@
 
 #include "AbstractShape.h"
 #include "Point.h"
+#include "Sphere.h"
 
 namespace Magnum { namespace Physics {
 
@@ -65,6 +66,9 @@ class PHYSICS_EXPORT Capsule: public AbstractShape {
         /** @brief Collision with point */
         bool operator%(const Point& other) const;
 
+        /** @brief Collision with sphere */
+        bool operator%(const Sphere& other) const;
+
     protected:
         inline Type type() const { return Type::Capsule; }
 
@@ -76,6 +80,7 @@ class PHYSICS_EXPORT Capsule: public AbstractShape {
 
 #ifndef DOXYGEN_GENERATING_OUTPUT
 inline bool operator%(const Point& a, const Capsule& b) { return b % a; }
+inline bool operator%(const Sphere& a, const Capsule& b) { return b % a; }
 #endif
 
 }}
diff --git a/src/Physics/Test/CapsuleTest.cpp b/src/Physics/Test/CapsuleTest.cpp
index cae3675e0..b1a39ac59 100644
--- a/src/Physics/Test/CapsuleTest.cpp
+++ b/src/Physics/Test/CapsuleTest.cpp
@@ -52,4 +52,20 @@ void CapsuleTest::collisionPoint() {
     VERIFY_NOT_COLLIDES(capsule, point2);
 }
 
+void CapsuleTest::collisionSphere() {
+    Physics::Capsule capsule({-1.0f, -1.0f, 0.0f}, {1.0f, 1.0f, 0.0f}, 2.0f);
+    Physics::Sphere sphere({3.0f, 0.0f, 0.0f}, 0.9f);
+    Physics::Sphere sphere1({3.5f, 1.0f, 0.0f}, 0.6f);
+    Physics::Sphere sphere2({1.0f, 4.1f, 0.0f}, 1.0f);
+
+    randomTransformation(capsule);
+    randomTransformation(sphere);
+    randomTransformation(sphere1);
+    randomTransformation(sphere2);
+
+    VERIFY_COLLIDES(capsule, sphere);
+    VERIFY_COLLIDES(capsule, sphere1);
+    VERIFY_NOT_COLLIDES(capsule, sphere2);
+}
+
 }}}
diff --git a/src/Physics/Test/CapsuleTest.h b/src/Physics/Test/CapsuleTest.h
index 69e50de47..2b5e85e65 100644
--- a/src/Physics/Test/CapsuleTest.h
+++ b/src/Physics/Test/CapsuleTest.h
@@ -25,6 +25,7 @@ class CapsuleTest: public AbstractShapeTest {
     private slots:
         void applyTransformation();
         void collisionPoint();
+        void collisionSphere();
 };
 
 }}}