Vector ClosestPointCylinder ( Vector const & V, Cylinder const & C )
{
Vector delta = V - C.getBase();
delta.y = 0.0f;
real dist = delta.magnitude();
Vector point = V;
// clamp the x-z coords of the point so they're inside the tube
IGNORE_RETURN( delta.normalize() );
delta *= std::min( C.getRadius(), dist );
point = C.getBase() + delta;
// and clamp the y coord so it's inside also
real min = C.getBase().y;
real max = min + C.getHeight();
point.y = clamp( min, V.y, max );
return point;
}
ContainmentResult TestCylinderCylinder ( Cylinder const & A,
Cylinder const & B )
{
Vector delta = B.getBase() - A.getBase();
delta.y = 0;
real dist = delta.magnitude();
Range AD( dist - A.getRadius(), dist + A.getRadius() );
Range BD( -B.getRadius(), B.getRadius() );
ContainmentResult hTest = Containment1d::TestRangeRange( AD, BD );
ContainmentResult vTest = Containment1d::TestRangeRange( A.getRangeY(), B.getRangeY() );
// ----------
return Containment::ComposeAxisTests(hTest,vTest);
}
ContainmentResult TestPointCylinder ( Vector const & V,
Cylinder const & C )
{
Vector delta = V - C.getBase();
delta.y = 0;
real dist = delta.magnitude();
real radius = C.getRadius();
ContainmentResult rTest = Containment1d::TestFloatLess(dist,radius);
ContainmentResult vTest = Containment1d::TestFloatRange(V.y, C.getRangeY());
// ----------
return Containment::ComposeAxisTests(rTest,vTest);
}
bool TestYLineCylinder ( Vector const & V, Cylinder const & C )
{
return Distance2d::Distance2PointPoint(V,C.getBase()) < sqr(C.getRadius());
}
ContainmentResult TestSphereCylinder ( Sphere const & S,
Cylinder const & C )
{
Vector delta = C.getBase() - S.getCenter();
delta.y = 0;
real dist = delta.magnitude();
Range SD( dist - S.getRadius(), dist + S.getRadius() );
Range CD( -C.getRadius(), C.getRadius() );
ContainmentResult hTest = Containment1d::TestRangeRange( SD, CD );
ContainmentResult hTest2 = Containment1d::TestFloatRange( dist, CD );
ContainmentResult vTest = Containment1d::TestRangeRange( S.getRangeY(), C.getRangeY() );
ContainmentResult cTest = Containment1d::TestFloatRange( S.getCenter().y, C.getRangeY() );
// ----------
if(hTest == CR_Outside)
{
// Sphere can't possibly touch the cylinder
return CR_Outside;
}
else if((hTest == CR_TouchingOutside) || (hTest == CR_Boundary))
{
// Sphere is touching the outside of the cylinder's tube if its
// center is inside the vertical range of the cylinder
if((cTest == CR_Inside) || (cTest == CR_Boundary))
{
return CR_TouchingOutside;
}
else
{
return CR_Outside;
}
}
else if((hTest == CR_Inside) || (hTest == CR_TouchingInside))
{
// Sphere is in the tube of the cylinder. It touches the cylinder
// if its vertical range touches the vertical range of the cylinder
return Containment::ComposeAxisTests(hTest,vTest);
}
else
{
// hTest == CR_Overlap
if(vTest == CR_Outside)
{
return CR_Outside;
}
else if((vTest == CR_Inside) || (vTest == CR_TouchingInside))
{
return CR_Overlap;
}
else if (vTest == CR_Boundary)
{
// This really shouldn't be happening
return CR_Boundary;
}
else if (vTest == CR_TouchingOutside)
{
if(hTest2 == CR_Inside)
{
// Sphere is touching a cap of the cylinder
return CR_TouchingOutside;
}
else if(hTest2 == CR_Boundary)
{
// Sphere is touching the edge of the cap of the cylinder
return CR_TouchingOutside;
}
else
{
// Sphere isn't touching the cap
return CR_Outside;
}
}
else
{
// vTest == CR_Overlap
if((cTest == CR_Inside) || (cTest == CR_Boundary))
{
// The ranges overlap vertically and horizontally, and the center of
// the sphere is inside the vertical range - the sphere overlaps the
// cylinder
return CR_Overlap;
}
else
{
// The sphere is inside both ranges, but its center is outside both
// ranges. The sphere overlaps the cylinder if the closest point
// on the cylinder is inside the sphere.
Vector closestPoint = Distance3d::ClosestPointCylinder(S.getCenter(),C);
ContainmentResult result = TestPointSphere(closestPoint,S);
if(result == CR_Outside)
{
return CR_Outside;
}
else if(result == CR_Boundary)
{
return CR_TouchingOutside;
}
else
{
return CR_Overlap;
}
}
}
}
}