bool IntrHalfspace3Box3<Real>::Find ( Real tmax,
const Vector3<Real>& velocity0, const Vector3<Real>& velocity1 )
{
mContactTime = ( Real )0;
Real tlast = Math<Real>::MAX_REAL;
Vector3<Real> relVelocity = velocity1 - velocity0;
IntrConfiguration<Real> cfg;
IntrAxis<Real>::GetConfiguration( mHalfspace->Normal, *mBox, cfg );
if ( !IntrAxis<Real>::Test( mHalfspace->Normal, relVelocity,
-Math<Real>::MAX_REAL, mHalfspace->Constant, cfg.mMin, cfg.mMax,
tmax, mContactTime, tlast ) )
{
// Never intersecting.
return false;
}
if ( mContactTime == ( Real )0 )
{
// Intersecting now.
return false;
}
// Box on positive side (right).
if ( cfg.mMap == IntrConfiguration<Real>::m1_1 )
{
// Point intersection.
mQuantity = 1;
mPoint[0] = GetPointFromIndex( cfg.mIndex[0], *mBox );
}
else if ( cfg.mMap == IntrConfiguration<Real>::m2_2 )
{
// Segment intersection.
mQuantity = 2;
mPoint[0] = GetPointFromIndex( cfg.mIndex[0], *mBox );
mPoint[1] = GetPointFromIndex( cfg.mIndex[1], *mBox );
}
else // cfg.mMap == IntrConfiguration<Real>::m44
{
// Face intersection.
mQuantity = 4;
mPoint[0] = GetPointFromIndex( cfg.mIndex[0], *mBox );
mPoint[1] = GetPointFromIndex( cfg.mIndex[1], *mBox );
mPoint[2] = GetPointFromIndex( cfg.mIndex[2], *mBox );
mPoint[3] = GetPointFromIndex( cfg.mIndex[3], *mBox );
}
// Adjust points to the correct place in time, as well.
Vector3<Real> diff = mContactTime * velocity1;
for ( int i = 0; i < mQuantity; ++i )
{
mPoint[i] += diff;
}
return true;
}
DistanceChecker::DistanceChecker(const CenteredBox& box, const CenteredBox& map_size)
: hitbox_(box), map_size_(map_size), cache_resolution_(10.0)
{
cache_rows_front_ = static_cast<int>(map_size_.length_front * cache_resolution_);
cache_rows_back_ = static_cast<int>(map_size_.length_back * cache_resolution_);
cache_rows_ = cache_rows_front_ + cache_rows_back_;
cache_cols_left_ = static_cast<int>(map_size_.width_left * cache_resolution_);
cache_cols_right_ = static_cast<int>(map_size_.width_right * cache_resolution_);
cache_cols_ = cache_cols_left_ + cache_cols_right_;
auto cache_size = static_cast<size_t>(cache_rows_ * cache_cols_);
cache_.resize(cache_size);
cache_visited_.resize(cache_size);
for (int i = 0; i < static_cast<int>(cache_size); i++) {
cache_[i].location = GetPointFromIndex(i);
cache_[i].might_hit_points.clear();
cache_[i].nearest_point = nullptr;
cache_visited_[i] = false;
}
double half_length = (hitbox_.length_front + hitbox_.length_back) / 2.;
double half_width = (hitbox_.width_left + hitbox_.width_right) / 2.;
hitbox_corner_dist_ = std::sqrt(half_length * half_length + half_width * half_width);
}
