bool CSpaceRestrictorWrapper::inside (const Fvector &position, float radius) const
{
Fsphere sphere;
sphere.P = position;
sphere.R = radius;
typedef CShapeData::ShapeVec ShapeVec;
ShapeVec::const_iterator I = object().shapes.begin();
ShapeVec::const_iterator E = object().shapes.end();
for ( ; I != E; ++I) {
switch ((*I).type) {
case 0 : {
Fsphere temp;
m_xform.transform_tiny(temp.P,(*I).data.sphere.P);
temp.R = (*I).data.sphere.R;
if (sphere.intersect(temp))
return (true);
continue;
}
case 1 : {
Fmatrix temp;
temp.mul_43 (m_xform,(*I).data.box);
// Build points
Fvector vertices;
Fvector points[8];
Fplane plane;
vertices.set(-.5f, -.5f, -.5f); temp.transform_tiny(points[0],vertices);
vertices.set(-.5f, -.5f, +.5f); temp.transform_tiny(points[1],vertices);
vertices.set(-.5f, +.5f, +.5f); temp.transform_tiny(points[2],vertices);
vertices.set(-.5f, +.5f, -.5f); temp.transform_tiny(points[3],vertices);
vertices.set(+.5f, +.5f, +.5f); temp.transform_tiny(points[4],vertices);
vertices.set(+.5f, +.5f, -.5f); temp.transform_tiny(points[5],vertices);
vertices.set(+.5f, -.5f, +.5f); temp.transform_tiny(points[6],vertices);
vertices.set(+.5f, -.5f, -.5f); temp.transform_tiny(points[7],vertices);
plane.build(points[0],points[3],points[5]); if (plane.classify(sphere.P)>sphere.R) break;
plane.build(points[1],points[2],points[3]); if (plane.classify(sphere.P)>sphere.R) break;
plane.build(points[6],points[5],points[4]); if (plane.classify(sphere.P)>sphere.R) break;
plane.build(points[4],points[2],points[1]); if (plane.classify(sphere.P)>sphere.R) break;
plane.build(points[3],points[2],points[4]); if (plane.classify(sphere.P)>sphere.R) break;
plane.build(points[1],points[0],points[6]); if (plane.classify(sphere.P)>sphere.R) break;
return (true);
}
default : NODEFAULT;
}
}
return (false);
}
bool CBone::Pick(float& dist, const Fvector& S, const Fvector& D, const Fmatrix& parent)
{
Fvector start, dir;
Fmatrix M; M.mul_43(parent,_LTransform());
M.invert();
M.transform_tiny(start,S);
M.transform_dir(dir,D);
switch (shape.type){
case SBoneShape::stBox: return shape.box.intersect (start,dir,dist);
case SBoneShape::stSphere: return shape.sphere.intersect (start,dir,dist);
case SBoneShape::stCylinder:return shape.cylinder.intersect (start,dir,dist);
default:
Fsphere S;
S.P.set(0,0,0);
S.R=0.025f;
return S.intersect(start,dir,dist);
}
}
//----------------------------------------------------------------------
int CObjectSpace::GetNearest ( xr_vector<ISpatial*>& q_spatial, xr_vector<CObject*>& q_nearest, const Fvector &point, float range, CObject* ignore_object )
{
q_spatial.clear_not_free ( );
// Query objects
q_nearest.clear_not_free ( );
Fsphere Q; Q.set (point,range);
Fvector B; B.set (range,range,range);
g_SpatialSpace->q_box(q_spatial,0,STYPE_COLLIDEABLE,point,B);
// Iterate
xr_vector<ISpatial*>::iterator it = q_spatial.begin ();
xr_vector<ISpatial*>::iterator end = q_spatial.end ();
for (; it!=end; it++) {
CObject* O = (*it)->dcast_CObject ();
if (0==O) continue;
if (O==ignore_object) continue;
Fsphere mS = { O->spatial.sphere.P, O->spatial.sphere.R };
if (Q.intersect(mS)) q_nearest.push_back(O);
}
return q_nearest.size();
}