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50 lines
1.7 KiB
50 lines
1.7 KiB
/* |
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Copyright © 2010, 2011, 2012 Vladimír Vondruš <mosra@centrum.cz> |
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This file is part of Magnum. |
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Magnum is free software: you can redistribute it and/or modify |
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it under the terms of the GNU Lesser General Public License version 3 |
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only, as published by the Free Software Foundation. |
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Magnum is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU Lesser General Public License version 3 for more details. |
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*/ |
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#include "Capsule.h" |
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#include "Math/Geometry/Distance.h" |
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using namespace Magnum::Math::Geometry; |
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namespace Magnum { namespace Physics { |
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void Capsule::applyTransformation(const Matrix4& transformation) { |
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_transformedA = (transformation*Vector4(_a)).xyz(); |
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_transformedB = (transformation*Vector4(_b)).xyz(); |
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float scaling = (transformation.rotationScaling()*Vector3(1/Math::Constants<float>::sqrt3())).length(); |
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_transformedRadius = scaling*_radius; |
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} |
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bool Capsule::collides(const AbstractShape* other) const { |
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if(other->type() == Type::Point) |
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return *this % *static_cast<const Point*>(other); |
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if(other->type() == Type::Sphere) |
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return *this % *static_cast<const Sphere*>(other); |
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return AbstractShape::collides(other); |
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} |
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bool Capsule::operator%(const Point& other) const { |
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return Distance::lineSegmentPointSquared(transformedA(), transformedB(), other.transformedPosition()) < |
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Math::pow<2>(transformedRadius()); |
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} |
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bool Capsule::operator%(const Sphere& other) const { |
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return Distance::lineSegmentPointSquared(transformedA(), transformedB(), other.transformedPosition()) < |
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Math::pow<2>(transformedRadius()+other.transformedRadius()); |
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} |
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}}
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