/// Overriden PS_Collider
bool _support(const PS_Vector3& point, PS_Vector3& position, PS_Vector3& normal) const
{
if (!mTester)
return false;
Vector3 pos, norm;
if (!mTester->_support(Vector3(point.x, point.y, point.z), pos, norm))
return false;
position = PS_Vector3(pos.x, pos.y, pos.z);
normal = PS_Vector3(norm.x, norm.y, norm.z);
return true;
}
//------------------------------------------------------------------------------
bool PS_SphereCollider::_support(const PS_Vector3& point, PS_Vector3& position, PS_Vector3& normal) const
{
// Transform point to our local coordinate, note that rotation of sphere is meaningless
PS_Vector3 v = point - mPosition;
// Calculate the distane between the point and the sphere centre
PS_Scalar squaredDistance = v.squaredLength();
// Check out of bound
if (mSquaredRadius <= squaredDistance)
return false;
// Reuse v to calculate normal to avoid allocate
if (squaredDistance)
v = v / PS_Math::Sqrt(squaredDistance);
else
v = PS_Vector3(0, 0, 1);
normal = v;
position = mPosition + v * mRadius;
return true;
}
void setPosition(const Vector3& pos)
{
this->Impl::setPosition(PS_Vector3(pos.x, pos.y, pos.z));
}
StdCollider* createBoxCollider(const Vector3& extents)
{
return _addCollider(new StdColliderImpl<PS_BoxCollider>(PS_Vector3(extents.x, extents.y, extents.z)));
}
