// returns true if the given point lies inside of the k-dop, specified by shapeInfo & shapePose.
// if the given point does lie within the k-dop, it also returns the amount of displacement necessary to push that point outward
// such that it lies on the surface of the kdop.
bool findPointKDopDisplacement(const glm::vec3& point, const AnimPose& shapePose, const HFMJointShapeInfo& shapeInfo, glm::vec3& displacementOut) {
// transform point into local space of jointShape.
glm::vec3 localPoint = shapePose.inverse().xformPoint(point);
// Only works for 14-dop shape infos.
if (shapeInfo.dots.size() != DOP14_COUNT) {
return false;
}
glm::vec3 minDisplacement(FLT_MAX);
float minDisplacementLen = FLT_MAX;
glm::vec3 p = localPoint - shapeInfo.avgPoint;
float pLen = glm::length(p);
if (pLen > 0.0f) {
int slabCount = 0;
for (int i = 0; i < DOP14_COUNT; i++) {
float dot = glm::dot(p, DOP14_NORMALS[i]);
if (dot > 0.0f && dot < shapeInfo.dots[i]) {
slabCount++;
float distToPlane = pLen * (shapeInfo.dots[i] / dot);
float displacementLen = distToPlane - pLen;
// keep track of the smallest displacement
if (displacementLen < minDisplacementLen) {
minDisplacementLen = displacementLen;
minDisplacement = (p / pLen) * displacementLen;
}
}
}
if (slabCount == (DOP14_COUNT / 2) && minDisplacementLen != FLT_MAX) {
// we are within the k-dop so push the point along the minimum displacement found
displacementOut = shapePose.xformVectorFast(minDisplacement);
return true;
} else {
// point is outside of kdop
return false;
}
} else {
// point is directly on top of shapeInfo.avgPoint.
// push the point out along the x axis.
displacementOut = shapePose.xformVectorFast(shapeInfo.points[0]);
return true;
}
}
