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);
}
