mirror of https://github.com/mosra/magnum.git
You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
59 lines
2.4 KiB
59 lines
2.4 KiB
/* |
|
Copyright © 2010, 2011, 2012 Vladimír Vondruš <mosra@centrum.cz> |
|
|
|
This file is part of Magnum. |
|
|
|
Magnum is free software: you can redistribute it and/or modify |
|
it under the terms of the GNU Lesser General Public License version 3 |
|
only, as published by the Free Software Foundation. |
|
|
|
Magnum is distributed in the hope that it will be useful, |
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
GNU Lesser General Public License version 3 for more details. |
|
*/ |
|
|
|
#include "Capsule.h" |
|
|
|
#include "Math/Constants.h" |
|
#include "Math/Math.h" |
|
#include "Math/Matrix3.h" |
|
#include "Math/Matrix4.h" |
|
#include "Math/Geometry/Distance.h" |
|
#include "Point.h" |
|
#include "Sphere.h" |
|
|
|
using namespace Magnum::Math::Geometry; |
|
|
|
namespace Magnum { namespace Physics { |
|
|
|
template<std::uint8_t dimensions> void Capsule<dimensions>::applyTransformationMatrix(const typename DimensionTraits<dimensions>::MatrixType& matrix) { |
|
_transformedA = (matrix*typename DimensionTraits<dimensions>::PointType(_a)).vector(); |
|
_transformedB = (matrix*typename DimensionTraits<dimensions>::PointType(_b)).vector(); |
|
float scaling = (matrix.rotationScaling()*typename DimensionTraits<dimensions>::VectorType(1/Constants::sqrt3())).length(); |
|
_transformedRadius = scaling*_radius; |
|
} |
|
|
|
template<std::uint8_t dimensions> bool Capsule<dimensions>::collides(const AbstractShape<dimensions>* other) const { |
|
if(other->type() == AbstractShape<dimensions>::Type::Point) |
|
return *this % *static_cast<const Point<dimensions>*>(other); |
|
if(other->type() == AbstractShape<dimensions>::Type::Sphere) |
|
return *this % *static_cast<const Sphere<dimensions>*>(other); |
|
|
|
return AbstractShape<dimensions>::collides(other); |
|
} |
|
|
|
template<std::uint8_t dimensions> bool Capsule<dimensions>::operator%(const Point<dimensions>& other) const { |
|
return Distance::lineSegmentPointSquared(transformedA(), transformedB(), other.transformedPosition()) < |
|
Math::pow<2>(transformedRadius()); |
|
} |
|
|
|
template<std::uint8_t dimensions> bool Capsule<dimensions>::operator%(const Sphere<dimensions>& other) const { |
|
return Distance::lineSegmentPointSquared(transformedA(), transformedB(), other.transformedPosition()) < |
|
Math::pow<2>(transformedRadius()+other.transformedRadius()); |
|
} |
|
|
|
template class Capsule<2>; |
|
template class Capsule<3>; |
|
|
|
}}
|
|
|