bool CollisionAABB::testCollision(const Particle *p, double eps, Vec3d& pos, Vec3d& nor)
{
Vec3d bmin = m_position;
Vec3d bmax = m_position + m_size;
bool collision = false;
nor = Vec3d(0,0,0);
pos = p->pos;
if (m_inner) {
// X planes
if ((p->pos[0] - bmin[0]) < eps) {
pos[0] = bmin[0];
nor[0] = 1;
collision = true;
}
else if ((bmax[0] - p->pos[0]) < eps) {
pos[0] = bmax[0];
nor[0] = -1;
collision = true;
}
// Y planes
if ((p->pos[1] - bmin[1]) < eps) {
pos[1] = bmin[1];
nor[1] = 1;
collision = true;
}
else if ((bmax[1] - p->pos[1]) < eps) {
pos[1] = bmax[1];
nor[1] = -1;
collision = true;
}
// Z planes
if ((p->pos[2] - bmin[2]) < eps) {
pos[2] = bmin[2];
nor[2] = 1;
collision = true;
}
else if ((bmax[2] - p->pos[2]) < eps) {
pos[2] = bmax[2];
nor[2] = -1;
collision = true;
}
}
else {
collision = true;
// X planes
if (((p->pos[0] - bmax[0]) < eps) && ((bmin[0] - p->pos[0]) < eps)) {
if (p->prevPos[0] <= bmin[0]) {
pos[0] = bmin[0];
nor[0] = -1;
}
else if (p->prevPos[0] >= bmax[0]) {
pos[0] = bmax[0];
nor[0] = 1;
}
else {
pos[0] = p->pos[0];
nor[0] = 0;
}
}
else collision = false;
// Y planes
if (((p->pos[1] - bmax[1]) < eps) && ((bmin[1] - p->pos[1]) < eps)) {
if (p->prevPos[1] <= bmin[1]) {
pos[1] = bmin[1];
nor[1] = -1;
}
else if (p->prevPos[1] >= bmax[1]) {
pos[1] = bmax[1];
nor[1] = 1;
}
else {
pos[1] = p->pos[1];
nor[1] = 0;
}
}
else collision = false;
// Z planes
if (((p->pos[2] - bmax[2]) < eps) && ((bmin[2] - p->pos[2]) < eps)) {
if (p->prevPos[2] <= bmin[2]) {
pos[2] = bmin[2];
nor[2] = -1;
}
else if (p->prevPos[2] >= bmax[2]) {
pos[2] = bmax[2];
nor[2] = 1;
}
else {
pos[2] = p->pos[2];
nor[2] = 0;
}
}
else collision = false;
}
if (collision) nor.Normalise();
return collision;
}
