vec Line::ClosestPoint(const Ray &other, float &d, float &d2) const
{
ClosestPointLineLine(pos, dir, other.pos, other.dir, d, d2);
if (d2 >= 0.f)
return GetPoint(d);
else
{
d2 = 0.f;
return ClosestPoint(other.pos, d);
}
}
vec Line::ClosestPoint(const LineSegment &other, float &d, float &d2) const
{
ClosestPointLineLine(pos, dir, other.a, other.b - other.a, d, d2);
if (d2 < 0.f)
{
d2 = 0.f;
return ClosestPoint(other.a, d);
}
else if (d2 > 1.f)
{
d2 = 1.f;
return ClosestPoint(other.b, d);
}
else
return GetPoint(d);
}
vec Line::ClosestPoint(const Ray &other, float *d, float *d2) const
{
float t2;
vec closestPoint = ClosestPointLineLine(pos, pos + dir, other.pos, other.pos + other.dir, d, &t2);
if (t2 <= 0.f)
{
if (d2)
*d2 = 0.f;
return ClosestPoint(other.pos, d);
}
else
{
if (d2)
*d2 = t2;
return closestPoint;
}
}
vec Line::ClosestPoint(const LineSegment &other, float *d, float *d2) const
{
float t2;
vec closestPoint = ClosestPointLineLine(pos, pos + dir, other.a, other.b, d, &t2);
if (t2 <= 0.f)
{
if (d2)
*d2 = 0.f;
return ClosestPoint(other.a, d);
}
else if (t2 >= 1.f)
{
if (d2)
*d2 = 1.f;
return ClosestPoint(other.b, d);
}
else
{
if (d2)
*d2 = t2;
return closestPoint;
}
}
void CCollisionManager::CalculateHitPoint( CCube* cube1,
CCube* cube2,
const float penetration,
vec3 &hitNormal,
vector<vec3> &hitPoints,
int &numHitPoints )
{
vec3 verts0[8];
int vertIndex0[8];
vec3 norm0 = hitNormal;
int numVerts0 = GetNumHitPoints( cube1,
norm0,
penetration,
verts0,
vertIndex0);
vec3 verts1[8];
int vertIndex1[8];
vec3 norm1 = -hitNormal;
int numVerts1 = GetNumHitPoints( cube2,
norm1,
penetration,
verts1,
vertIndex1);
// This should never really happen!
if (numVerts0==0 || numVerts1==0)
{
return;
}
int numVertsX = numVerts0;
vec3* vertsX = verts0;
if (numVerts0>=4 && numVerts1>=4)
{
static vec3 clipVerts[50];
ClipFaceFaceVerts( verts0, vertIndex0,
verts1, vertIndex1,
clipVerts, &numVertsX);
vertsX = clipVerts;
}
{
if (numVerts1 < numVerts0)
{
numVertsX = numVerts1;
vertsX = verts1;
hitNormal = -norm1;
}
if (numVerts1==2 && numVerts0==2)
{
static vec3 V[2];
static int numV = 0;
ClosestPointLineLine(verts0,
verts1,
V, numV);
vertsX = V;
numVertsX = numV;
}
if (numVerts0==2 && numVerts1==4)
{
ClipLinePlane( verts0, vertIndex0, cube1,
verts1, vertIndex1, cube2,
vertsX, numVertsX);
}
if (numVerts0==4 && numVerts1==2)
{
ClipLinePlane( verts1, vertIndex1, cube1,
verts0, vertIndex0, cube2,
vertsX, numVertsX);
}
numHitPoints = numVertsX;
for (int i=0; i<numVertsX; i++)
{
hitPoints.push_back( vertsX[i] );
}
}
}
vec Line::ClosestPoint(const Line &other, float &d, float &d2) const
{
ClosestPointLineLine(pos, dir, other.pos, other.dir, d, d2);
return GetPoint(d);
}
vec Line::ClosestPoint(const Line &other, float *d, float *d2) const
{
return ClosestPointLineLine(pos, pos + dir, other.pos, other.pos + other.dir, d, d2);
}