template<UnsignedInt dimensions> Collision<dimensions> InvertedSphere<dimensions>::operator/(const Point<dimensions>& other) const {
const typename DimensionTraits<dimensions, Float>::VectorType separating = other.position() - position();
const Float dot = separating.dot();
/* No collision occured */
if(dot < Math::pow<2>(radius())) return {};
/* Actual distance from the center */
const Float distance = Math::sqrt(dot);
/* Separating normal */
const typename DimensionTraits<dimensions, Float>::VectorType separatingNormal = separating/distance;
/* Collision position is on the point */
return Collision<dimensions>(other.position(), separatingNormal, distance - radius());
}
template<UnsignedInt dimensions> Collision<dimensions> InvertedSphere<dimensions>::operator/(const Sphere<dimensions>& other) const {
const Float maxDistance = radius() - other.radius();
/** @todo How to handle inseparable shapes or shapes which can't be separated by movement only (i.e. two half-spaces)? */
CORRADE_INTERNAL_ASSERT(maxDistance > 0.0f);
const typename DimensionTraits<dimensions, Float>::VectorType separating = other.position() - position();
const Float dot = separating.dot();
/* No collision occured */
if(dot < Math::pow<2>(maxDistance)) return {};
/* Actual distance */
const Float distance = Math::sqrt(dot);
/* Separating normal */
const typename DimensionTraits<dimensions, Float>::VectorType separatingNormal = separating/distance;
/* Contact position is on the surface of `other`, distance > maxDistance */
return Collision<dimensions>(other.position() + separatingNormal*other.radius(), separatingNormal, distance - maxDistance);
}
template<UnsignedInt dimensions> Collision<dimensions> Sphere<dimensions>::operator/(const Point<dimensions>& other) const {
const typename DimensionTraits<dimensions, Float>::VectorType separating = _position - other.position();
const Float dot = separating.dot();
/* No collision occured */
if(dot > Math::pow<2>(_radius)) return {};
/* Actual distance from the center */
const Float distance = Math::sqrt(dot);
/* Separating normal. If can't decide on direction, just move up. */
/** @todo How to handle this in a configurable way? */
const typename DimensionTraits<dimensions, Float>::VectorType separatingNormal =
Math::TypeTraits<Float>::equals(dot, 0.0f) ?
DimensionTraits<dimensions, Float>::VectorType::yAxis() :
separating/distance;
/* Collision position is on the point */
return Collision<dimensions>(other.position(), separatingNormal, _radius - distance);
}
template<UnsignedInt dimensions> Collision<dimensions> Sphere<dimensions>::operator/(const Sphere<dimensions>& other) const {
const Float minDistance = _radius + other._radius;
const typename DimensionTraits<dimensions, Float>::VectorType separating = _position - other._position;
const Float dot = separating.dot();
/* No collision occured */
if(dot > Math::pow<2>(minDistance)) return {};
/* Actual distance */
const Float distance = Math::sqrt(dot);
/* Separating normal. If can't decide on direction, just move up. */
/** @todo How to handle this in a configurable way? */
const typename DimensionTraits<dimensions, Float>::VectorType separatingNormal =
Math::TypeTraits<Float>::equals(dot, 0.0f) ?
DimensionTraits<dimensions, Float>::VectorType::yAxis() :
separating/distance;
/* Contact position is on the surface of `other`, minDistace > distance */
return Collision<dimensions>(other._position + separatingNormal*other._radius, separatingNormal, minDistance - distance);
}
template<UnsignedInt dimensions> void Line<dimensions>::applyTransformationMatrix(const typename DimensionTraits<dimensions>::MatrixType& matrix) {
_transformedA = matrix.transformPoint(_a);
_transformedB = matrix.transformPoint(_b);
}
template<UnsignedInt dimensions> void AxisAlignedBox<dimensions>::applyTransformationMatrix(const typename DimensionTraits<dimensions>::MatrixType& matrix) {
_transformedMin = matrix.transformPoint(_min);
_transformedMax = matrix.transformPoint(_max);
}
template<UnsignedInt dimensions> void Capsule<dimensions>::applyTransformationMatrix(const typename DimensionTraits<dimensions>::MatrixType& matrix) {
_transformedA = matrix.transformPoint(_a);
_transformedB = matrix.transformPoint(_b);
Float scaling = (matrix.rotationScaling()*typename DimensionTraits<dimensions>::VectorType(1/Constants::sqrt3())).length();
_transformedRadius = scaling*_radius;
}
template<UnsignedInt dimensions> void BufferImage<dimensions>::setData(const typename DimensionTraits<Dimensions, Int>::VectorType& size, ColorFormat format, ColorType type, const void* data, BufferUsage usage) {
_format = format;
_type = type;
_size = size;
_buffer.setData({data, pixelSize()*size.product()}, usage);
}
template<UnsignedInt dimensions> void ForceRenderer<dimensions>::draw(const typename DimensionTraits<dimensions, Float>::MatrixType& transformationMatrix, SceneGraph::AbstractCamera<dimensions, Float>& camera) {
shader->setTransformationProjectionMatrix(camera.projectionMatrix()*Implementation::forceRendererTransformation<dimensions>(transformationMatrix.transformPoint(forcePosition), force)*DimensionTraits<dimensions, Float>::MatrixType::scaling(typename DimensionTraits<dimensions, Float>::VectorType(options->scale())))
.setColor(options->color())
.use();
mesh->draw();
}
template<UnsignedInt dimensions> Cylinder<dimensions> Cylinder<dimensions>::transformed(const typename DimensionTraits<dimensions, Float>::MatrixType& matrix) const {
return Cylinder<dimensions>(matrix.transformPoint(_a), matrix.transformPoint(_b), matrix.uniformScaling()*_radius);
}
template<UnsignedInt dimensions> AxisAlignedBox<dimensions> AxisAlignedBox<dimensions>::transformed(const typename DimensionTraits<dimensions, Float>::MatrixType& matrix) const {
return AxisAlignedBox<dimensions>(matrix.transformPoint(_min),
matrix.transformPoint(_max));
}
template<UnsignedInt dimensions> Sphere<dimensions> Sphere<dimensions>::transformed(const typename DimensionTraits<dimensions, Float>::MatrixType& matrix) const {
return Sphere<dimensions>(matrix.transformPoint(_position), matrix.uniformScaling()*_radius);
}
