float HitPlane::HitTest(const Ball * pball, float dtime, CollisionEvent& coll)
{
if (!m_fEnabled) return -1.0f;
//slintf("HitPlane test - %f %f\n", pball->m_pos.z, pball->m_vel.z);
const float bnv = normal.Dot(pball->m_vel); // speed in normal direction
if (bnv >= (float)C_CONTACTVEL) // return if clearly ball is receding from object
return -1.0f;
const float bnd = normal.Dot( pball->m_pos ) - pball->m_radius - d; // distance from plane to ball surface
if (bnd < pball->m_radius*-2.0f) //!! solely responsible for ball through playfield?? check other places, too (radius*2??)
return -1.0f; // excessive penetration of plane ... no collision HACK
// slow moving ball? then either contact or no collision at all
if (fabsf(bnv) <= (float)C_CONTACTVEL)
{
if (fabsf(bnd) <= (float)PHYS_TOUCH)
{
coll.isContact = true;
coll.hitnormal = normal;
coll.hitvelocity.z = bnv; // remember original normal velocity
coll.hitdistance = bnd;
//coll.hitRigid = true;
return 0.0f; // hittime is ignored for contacts
}
else
return -1.0f; // large distance, small velocity -> no hit
}
float hittime = bnd / (-bnv); // rate ok for safe divide
if (hittime < 0.f)
hittime = 0.0f; // already penetrating? then collide immediately
if (infNaN(hittime) || hittime > dtime)
return -1.0f; // time is outside this frame ... no collision
coll.hitnormal = normal;
coll.hitdistance = bnd; // actual contact distance
//coll.hitRigid = true; // collision type
return hittime;
}
float Ball::HitTest(const Ball * pball_, float dtime, CollisionEvent& coll)
{
Ball * pball = const_cast<Ball*>(pball_); // HACK; needed below
Vertex3Ds d = pos - pball->pos; // delta position
Vertex3Ds dv = vel - pball->vel; // delta velocity
float bcddsq = d.LengthSquared(); // square of ball center's delta distance
float bcdd = sqrtf(bcddsq); // length of delta
if (bcdd < 1.0e-8f) // two balls center-over-center embedded
{ //return -1;
d.z = -1.0f; // patch up
pball->pos.z -= d.z; // lift up
bcdd = 1.0f; // patch up
bcddsq = 1.0f; // patch up
dv.z = 0.1f; // small speed difference
pball->vel.z -= dv.z;
}
float b = dv.Dot(d); // inner product
const float bnv = b/bcdd; // normal speed of balls toward each other
if ( bnv > C_LOWNORMVEL) return -1.0f; // dot of delta velocity and delta displacement, postive if receding no collison
const float totalradius = pball->radius + radius;
const float bnd = bcdd - totalradius; // distance between ball surfaces
float hittime;
if (bnd < (float)PHYS_TOUCH) // in contact???
{
if (bnd <= (float)(-PHYS_SKIN*2.0))
return -1.0f; // embedded too deep
if ((fabsf(bnv) > C_CONTACTVEL) // >fast velocity, return zero time
//zero time for rigid fast bodies
|| (bnd <= (float)(-PHYS_TOUCH)))
hittime = 0; // slow moving but embedded
else
hittime = bnd/(float)(2.0*PHYS_TOUCH) + 0.5f; // don't compete for fast zero time events
}
else
{
// find collision time as solution of quadratic equation
// at^2 + bt + c = 0
const float a = dv.LengthSquared(); // square of differential velocity
if (a < 1.0e-8f) return -1.0f; // ball moving really slow, then wait for contact
const float c = bcddsq - totalradius*totalradius; //first contact test: square delta position - square of radii
b *= 2.0f; // two inner products
float result = b*b - 4.0f*a*c; // squareroot term (discriminant) in quadratic equation
if (result < 0.0f) return -1.0f; // no collision path exist
result = sqrtf(result);
// compute the two solutions to the quadratic equation
float time1 = (-b + result)/(2.0f * a);
const float time2 = (-b - result)/(2.0f * a);
// choose smallest non-negative solution
hittime = std::min(time1, time2);
if (hittime < 0)
hittime = std::max(time1, time2);
if (infNaN(hittime) || hittime < 0 || hittime > dtime)
return -1.0f; // .. was some time previous || beyond the next physics tick
}
const Vertex3Ds hitPos = pball->pos + hittime * dv; // new ball position
//calc unit normal of collision
coll.normal[0] = hitPos - pos;
coll.normal[0].Normalize();
coll.distance = bnd; //actual contact distance
coll.hitRigid = true; //rigid collision type
return hittime;
}
float Hit3DPoly::HitTest(const Ball * pball, float dtime, CollisionEvent& coll)
{
if (!m_fEnabled) return -1.0f;
const float bnv = normal.Dot(pball->m_vel); //speed in Normal-vector direction
if ((m_ObjType != eTrigger) && (bnv >= 0.f)) // return if clearly ball is receding from object
return -1.0f;
// Point on the ball that will hit the polygon, if it hits at all
Vertex3Ds hitPos = pball->m_pos - pball->m_radius * normal; // nearest point on ball ... projected radius along norm
const float bnd = normal.Dot( hitPos - m_rgv[0] ); // distance from plane to ball
bool bUnHit = (bnv > C_LOWNORMVEL);
const bool inside = (bnd <= 0); // in ball inside object volume
const bool rigid = (m_ObjType != eTrigger);
float hittime;
if (rigid) //rigid polygon
{
if (bnd < -pball->m_radius/**2.0f*/) return -1.0f; // (ball normal distance) excessive penetration of object skin ... no collision HACK //!! *2 necessary?
if (bnd <= (float)PHYS_TOUCH)
{
if (inside || (fabsf(bnv) > C_CONTACTVEL) // fast velocity, return zero time
//zero time for rigid fast bodies
|| (bnd <= (float)(-PHYS_TOUCH))) // slow moving but embedded
hittime = 0;
else
hittime = bnd*(float)(1.0/(2.0*PHYS_TOUCH)) + 0.5f; // don't compete for fast zero time events
}
else if (fabsf(bnv) > C_LOWNORMVEL ) // not velocity low ????
hittime = bnd/(-bnv); // rate ok for safe divide
else
return -1.0f; // wait for touching
}
else //non-rigid polygon
{
if (bnv * bnd >= 0) // outside-receding || inside-approaching
{
if((m_ObjType != eTrigger) || // not a trigger
(!pball->m_vpVolObjs) || // temporary ball
(fabsf(bnd) >= pball->m_radius*0.5f) || // not too close ... nor too far away
(inside != (pball->m_vpVolObjs->IndexOf(m_pObj) < 0)))// ...ball outside and hit set or ball inside and no hit set
return -1.0f;
hittime = 0;
bUnHit = !inside; // ball on outside is UnHit, otherwise it's a Hit
}
else
hittime = bnd/(-bnv);
}
if (infNaN(hittime) || hittime < 0 || hittime > dtime) return -1.0f; // time is outside this frame ... no collision
hitPos += hittime * pball->m_vel; // advance hit point to contact
// Do a point in poly test, using the xy plane, to see if the hit point is inside the polygon
//this need to be changed to a point in polygon on 3D plane
float x2 = m_rgv[0].x;
float y2 = m_rgv[0].y;
bool hx2 = (hitPos.x >= x2);
bool hy2 = (hitPos.y <= y2);
int crosscount=0; // count of lines which the hit point is to the left of
for (int i=0;i<m_cvertex;i++)
{
const float x1 = x2;
const float y1 = y2;
const bool hx1 = hx2;
const bool hy1 = hy2;
const int j = (i < m_cvertex-1) ? (i+1) : 0;
x2 = m_rgv[j].x;
y2 = m_rgv[j].y;
hx2 = (hitPos.x >= x2);
hy2 = (hitPos.y <= y2);
if ((y1==y2) ||
(hy1 && hy2) || (!hy1 && !hy2) || // if out of y range, forget about this segment
(hx1 && hx2)) // Hit point is on the right of the line
continue;
if (!hx1 && !hx2)
{
crosscount^=1;
continue;
}
if (x2 == x1)
{
if (!hx2)
crosscount^=1;
continue;
}
// Now the hard part - the hit point is in the line bounding box
if (x2 - (y2 - hitPos.y)*(x1 - x2)/(y1 - y2) > hitPos.x)
crosscount^=1;
}
if (crosscount & 1)
{
coll.hitnormal.x = m_rgv[0].z;
coll.hitnormal.y = m_rgv[2].z;
if (!rigid) // non rigid body collision? return direction
coll.hitvelocity.x = bUnHit ? 1.0f : 0.0f; // UnHit signal is receding from outside target
coll.hitdistance = bnd; // 3dhit actual contact distance ...
//coll.hitRigid = rigid; // collision type
return hittime;
}
return -1.0f;
}
float HitTriangle::HitTest(const Ball * pball, float dtime, CollisionEvent& coll)
{
if (!m_fEnabled) return -1.0f;
const float bnv = normal.Dot(pball->m_vel); // speed in Normal-vector direction
if (bnv >= C_CONTACTVEL) // return if clearly ball is receding from object
return -1.0f;
// Point on the ball that will hit the polygon, if it hits at all
const float bRadius = pball->m_radius;
Vertex3Ds hitPos = pball->m_pos - bRadius * normal; // nearest point on ball ... projected radius along norm
const float bnd = normal.Dot( hitPos - m_rgv[0] ); // distance from plane to ball
float hittime;
if (bnd < -pball->m_radius/**2.0f*/) //!! *2 necessary?
return -1.0f; // (ball normal distance) excessive pentratration of object skin ... no collision HACK
bool isContact = false;
if (bnd <= (float)PHYS_TOUCH)
{
if (fabsf(bnv) <= C_CONTACTVEL)
{
hittime = 0;
isContact = true;
}
else if (bnd <= 0)
hittime = 0; // zero time for rigid fast bodies
else
hittime = bnd / -bnv;
}
else if (fabsf(bnv) > C_LOWNORMVEL ) // not velocity low?
hittime = bnd / -bnv; // rate ok for safe divide
else
return -1.0f; // wait for touching
if (infNaN(hittime) || hittime < 0 || hittime > dtime)
return -1.0f; // time is outside this frame ... no collision
hitPos += hittime * pball->m_vel; // advance hit point to contact
// check if hitPos is within the triangle
// Compute vectors
const Vertex3Ds v0 = m_rgv[2] - m_rgv[0];
const Vertex3Ds v1 = m_rgv[1] - m_rgv[0];
const Vertex3Ds v2 = hitPos - m_rgv[0];
// Compute dot products
const float dot00 = v0.Dot(v0);
const float dot01 = v0.Dot(v1);
const float dot02 = v0.Dot(v2);
const float dot11 = v1.Dot(v1);
const float dot12 = v1.Dot(v2);
// Compute barycentric coordinates
const float invDenom = 1.0f / (dot00 * dot11 - dot01 * dot01);
const float u = (dot11 * dot02 - dot01 * dot12) * invDenom;
const float v = (dot00 * dot12 - dot01 * dot02) * invDenom;
// Check if point is in triangle
const bool pointInTri = (u >= 0.f) && (v >= 0.f) && (u + v <= 1.f);
if (pointInTri)
{
coll.hitnormal = normal;
coll.hitdistance = bnd; // 3dhit actual contact distance ...
//coll.hitRigid = true; // collision type
if (isContact)
{
coll.isContact = true;
coll.hitvelocity.z = bnv;
}
return hittime;
}
else
return -1.0f;
}
float LineSeg::HitTestBasic(const Ball * pball, const float dtime, CollisionEvent& coll, const bool direction, const bool lateral, const bool rigid)
{
if (!m_fEnabled || pball->m_frozen) return -1.0f;
const float ballvx = pball->m_vel.x; // ball velocity
const float ballvy = pball->m_vel.y;
const float bnv = ballvx*normal.x + ballvy*normal.y; // ball velocity normal to segment, positive if receding, zero=parallel
bool bUnHit = (bnv > C_LOWNORMVEL);
if (direction && (bnv > C_CONTACTVEL)) // direction true and clearly receding from normal face
return -1.0f;
const float ballx = pball->m_pos.x; // ball position
const float bally = pball->m_pos.y;
// ball normal distance: contact distance normal to segment. lateral contact subtract the ball radius
const float rollingRadius = lateral ? pball->m_radius : C_TOL_RADIUS; //lateral or rolling point
const float bcpd = (ballx - v1.x)*normal.x + (bally - v1.y)*normal.y; // ball center to plane distance
const float bnd = bcpd - rollingRadius;
const bool inside = (bnd <= 0.f); // in ball inside object volume
float hittime;
if (rigid)
{
if ((bnd < -pball->m_radius/**2.0f*/) || (lateral && bcpd < 0.f))
return -1.0f; // (ball normal distance) excessive pentratration of object skin ... no collision HACK //!! *2 necessary?
if (lateral && (bnd <= (float)PHYS_TOUCH))
{
if (inside || (fabsf(bnv) > C_CONTACTVEL) // fast velocity, return zero time
// zero time for rigid fast bodies
|| (bnd <= (float)(-PHYS_TOUCH)))
hittime = 0; // slow moving but embedded
else
hittime = bnd*(float)(1.0/(2.0*PHYS_TOUCH)) + 0.5f; // don't compete for fast zero time events
}
else if (fabsf(bnv) > C_LOWNORMVEL) // not velocity low ????
hittime = bnd/(-bnv); // rate ok for safe divide
else
return -1.0f; // wait for touching
}
else //non-rigid ... target hits
{
if (bnv * bnd >= 0.f) // outside-receding || inside-approaching
{
if ((m_ObjType != eTrigger) || // no a trigger
(!pball->m_vpVolObjs) ||
(fabsf(bnd) >= pball->m_radius*0.5f) || // not too close ... nor too far away
(inside != (pball->m_vpVolObjs->IndexOf(m_pObj) < 0))) // ...ball outside and hit set or ball inside and no hit set
return -1.0f;
hittime = 0;
bUnHit = !inside; // ball on outside is UnHit, otherwise it's a Hit
}
else
hittime = bnd/(-bnv);
}
if (infNaN(hittime) || hittime < 0.f || hittime > dtime)
return -1.0f; // time is outside this frame ... no collision
const float btv = ballvx*normal.y - ballvy*normal.x; // ball velocity tangent to segment with respect to direction from V1 to V2
const float btd = (ballx - v1.x)*normal.y - (bally - v1.y)*normal.x // ball tangent distance
+ btv * hittime; // ball tangent distance (projection) (initial position + velocity * hitime)
if (btd < -C_TOL_ENDPNTS || btd > length + C_TOL_ENDPNTS) // is the contact off the line segment???
return -1.0f;
if (!rigid) // non rigid body collision? return direction
coll.hitvelocity.x = bUnHit ? 1.0f : 0.0f; // UnHit signal is receding from outside target
const float ballr = pball->m_radius;
const float hitz = pball->m_pos.z - ballr + pball->m_vel.z*hittime; // check too high or low relative to ball rolling point at hittime
if (hitz + ballr * 1.5f < m_rcHitRect.zlow // check limits of object's height and depth
|| hitz + ballr * 0.5f > m_rcHitRect.zhigh)
return -1.0f;
coll.hitnormal.x = normal.x; // hit normal is same as line segment normal
coll.hitnormal.y = normal.y;
coll.hitnormal.z = 0.0f;
coll.hitdistance = bnd; // actual contact distance ...
//coll.hitRigid = rigid; // collision type
// check for contact
if (fabsf(bnv) <= C_CONTACTVEL && fabsf(bnd) <= (float)PHYS_TOUCH)
{
coll.isContact = true;
coll.hitvelocity.z = bnv;
}
return hittime;
}
float HitPoint::HitTest(const Ball * pball, float dtime, CollisionEvent& coll)
{
if (!m_fEnabled)
return -1.0f;
const Vertex3Ds dist = pball->m_pos - m_p; // relative ball position
const float bcddsq = dist.LengthSquared(); // ball center to line distance squared
const float bcdd = sqrtf(bcddsq); // distance ball to line
if (bcdd <= 1.0e-6f)
return -1.0f; // no hit on exact center
const float b = dist.Dot(pball->m_vel);
const float bnv = b/bcdd; // ball normal velocity
if (bnv > C_CONTACTVEL)
return -1.0f; // clearly receding from radius
const float bnd = bcdd - pball->m_radius; // ball distance to line
const float a = pball->m_vel.LengthSquared();
float hittime = 0;
bool isContact = false;
if (bnd < (float)PHYS_TOUCH) // already in collision distance?
{
if (fabsf(bnv) <= C_CONTACTVEL)
{
isContact = true;
hittime = 0;
}
else
hittime = std::max(0.0f, -bnd / bnv); // estimate based on distance and speed along distance
}
else
{
if (a < 1.0e-8f)
return -1.0f; // no hit - ball not moving relative to object
float time1, time2;
if (!SolveQuadraticEq(a, 2.0f*b, bcddsq - pball->m_radius*pball->m_radius, time1, time2))
return -1.0f;
hittime = (time1*time2 < 0) ? max(time1,time2) : min(time1,time2); // find smallest nonnegative solution
}
if (infNaN(hittime) || hittime < 0 || hittime > dtime)
return -1.0f; // contact out of physics frame
const Vertex3Ds hitPos = pball->m_pos + hittime * pball->m_vel;
coll.hitnormal = hitPos - m_p;
coll.hitnormal.Normalize();
coll.isContact = isContact;
if (isContact)
coll.hitvelocity.z = bnv;
coll.hitdistance = bnd; // actual contact distance
//coll.hitRigid = true;
return hittime;
}
float HitLineZ::HitTest(const Ball * pball, float dtime, CollisionEvent& coll)
{
if (!m_fEnabled)
return -1.0f;
const Vertex2D bp2d(pball->m_pos.x, pball->m_pos.y);
const Vertex2D dist = bp2d - m_xy; // relative ball position
const Vertex2D dv(pball->m_vel.x, pball->m_vel.y);
const float bcddsq = dist.LengthSquared(); // ball center to line distance squared
const float bcdd = sqrtf(bcddsq); // distance ball to line
if (bcdd <= 1.0e-6f)
return -1.0f; // no hit on exact center
const float b = dist.Dot(dv);
const float bnv = b/bcdd; // ball normal velocity
if (bnv > C_CONTACTVEL)
return -1.0f; // clearly receding from radius
const float bnd = bcdd - pball->m_radius; // ball distance to line
const float a = dv.LengthSquared();
float hittime = 0;
bool isContact = false;
if (bnd < (float)PHYS_TOUCH) // already in collision distance?
{
if (fabsf(bnv) <= C_CONTACTVEL)
{
isContact = true;
hittime = 0;
}
else
hittime = std::max(0.0f, -bnd / bnv); // estimate based on distance and speed along distance
}
else
{
if (a < 1.0e-8f)
return -1.0f; // no hit - ball not moving relative to object
float time1, time2;
if (!SolveQuadraticEq(a, 2.0f*b, bcddsq - pball->m_radius*pball->m_radius, time1, time2))
return -1.0f;
hittime = (time1*time2 < 0) ? max(time1,time2) : min(time1,time2); // find smallest nonnegative solution
}
if (infNaN(hittime) || hittime < 0 || hittime > dtime)
return -1.0f; // contact out of physics frame
const float hitz = pball->m_pos.z + hittime * pball->m_vel.z; // ball z position at hit time
if (hitz < m_zlow || hitz > m_zhigh) // check z coordinate
return -1.0f;
const float hitx = pball->m_pos.x + hittime * pball->m_vel.x; // ball x position at hit time
const float hity = pball->m_pos.y + hittime * pball->m_vel.y; // ball y position at hit time
Vertex2D norm(hitx - m_xy.x, hity - m_xy.y);
norm.Normalize();
coll.hitnormal.Set(norm.x, norm.y, 0.0f);
coll.isContact = isContact;
if (isContact)
coll.hitvelocity.z = bnv;
coll.hitdistance = bnd; // actual contact distance
//coll.hitRigid = true;
return hittime;
}
float HitCircle::HitTestBasicRadius(const Ball * pball, float dtime, CollisionEvent& coll,
bool direction, bool lateral, bool rigid)
{
if (!m_fEnabled || pball->m_frozen) return -1.0f;
Vertex3Ds c(center.x, center.y, 0.0f);
Vertex3Ds dist = pball->m_pos - c; // relative ball position
Vertex3Ds dv = pball->m_vel;
float targetRadius;
bool capsule3D;
if (!lateral && pball->m_pos.z > zhigh)
{
capsule3D = true; // handle ball over target?
//const float hcap = radius*(float)(1.0/5.0); // cap height to hit-circle radius ratio
//targetRadius = radius*radius/(hcap*2.0f) + hcap*0.5f; // c = (r^2+h^2)/(2*h)
targetRadius = radius*(float)(13.0/5.0); // optimized version of above code
//c.z = zhigh - (targetRadius - hcap); // b = c - h
c.z = zhigh - radius*(float)(12.0/5.0); // optimized version of above code
dist.z = pball->m_pos.z - c.z; // ball rolling point - capsule center height
}
else
{
capsule3D = false;
targetRadius = radius;
if (lateral)
targetRadius += pball->m_radius;
dist.z = dv.z = 0.0f;
}
const float bcddsq = dist.LengthSquared(); // ball center to circle center distance ... squared
const float bcdd = sqrtf(bcddsq); // distance center to center
if (bcdd <= 1.0e-6f)
return -1.0f; // no hit on exact center
const float b = dist.Dot(dv);
const float bnv = b/bcdd; // ball normal velocity
if (direction && bnv > C_LOWNORMVEL)
return -1.0f; // clearly receding from radius
const float bnd = bcdd - targetRadius; // ball normal distance to
const float a = dv.LengthSquared();
float hittime = 0;
bool fUnhit = false;
bool isContact = false;
// Kicker is special.. handle ball stalled on kicker, commonly hit while receding, knocking back into kicker pocket
if (m_ObjType == eKicker && bnd <= 0 && bnd >= -radius && a < C_CONTACTVEL*C_CONTACTVEL )
{
if (pball->m_vpVolObjs) pball->m_vpVolObjs->RemoveElement(m_pObj); // cause capture
}
if (rigid && bnd < (float)PHYS_TOUCH) // positive: contact possible in future ... Negative: objects in contact now
{
if (bnd < -pball->m_radius/**2.0f*/) //!! *2 necessary?
return -1.0f;
else if (fabsf(bnv) <= C_CONTACTVEL)
{
isContact = true;
hittime = 0;
}
else
hittime = std::max(0.0f, -bnd / bnv); // estimate based on distance and speed along distance
}
else if (m_ObjType >= eTrigger // triggers & kickers
&& pball->m_vpVolObjs && ((bnd < 0.f) == (pball->m_vpVolObjs->IndexOf(m_pObj) < 0)))
{ // here if ... ball inside and no hit set .... or ... ball outside and hit set
if (fabsf(bnd-radius) < 0.05f) // if ball appears in center of trigger, then assumed it was gen'ed there
{
if (pball->m_vpVolObjs)
pball->m_vpVolObjs->AddElement(m_pObj); //special case for trigger overlaying a kicker
} // this will add the ball to the trigger space without a Hit
else
{
hittime = 0;
fUnhit = (bnd > 0.f); // ball on outside is UnHit, otherwise it's a Hit
}
}
else
{
if((!rigid && bnd * bnv > 0.f) || // (outside and receding) or (inside and approaching)
(a < 1.0e-8f)) return -1.0f; // no hit ... ball not moving relative to object
float time1, time2;
if (!SolveQuadraticEq(a, 2.0f*b, bcddsq - targetRadius*targetRadius, time1, time2))
return -1.0f;
fUnhit = (time1*time2 < 0.f);
hittime = fUnhit ? max(time1,time2) : min(time1,time2); // ball is inside the circle
}
if (infNaN(hittime) || hittime < 0.f || hittime > dtime)
return -1.0f; // contact out of physics frame
const float hitz = pball->m_pos.z - pball->m_radius + pball->m_vel.z * hittime; // rolling point
if(((hitz + pball->m_radius *1.5f) < zlow) ||
(!capsule3D && (hitz + pball->m_radius*0.5f) > zhigh) ||
(capsule3D && (pball->m_pos.z + pball->m_vel.z * hittime) < zhigh)) return -1.0f;
const float hitx = pball->m_pos.x + pball->m_vel.x*hittime;
const float hity = pball->m_pos.y + pball->m_vel.y*hittime;
const float sqrlen = (hitx - c.x)*(hitx - c.x) + (hity - c.y)*(hity - c.y);
if (sqrlen > 1.0e-8f) // over center???
{ // no
const float inv_len = 1.0f/sqrtf(sqrlen);
coll.hitnormal.x = (hitx - c.x)*inv_len;
coll.hitnormal.y = (hity - c.y)*inv_len;
coll.hitnormal.z = 0.0f;
}
else
{ // yes, over center
coll.hitnormal.x = 0.0f; // make up a value, any direction is ok
coll.hitnormal.y = 1.0f;
coll.hitnormal.z = 0.0f;
}
if (!rigid) // non rigid body collision? return direction
coll.hitvelocity.x = fUnhit ? 1.0f : 0.0f; // UnHit signal is receding from target
coll.isContact = isContact;
if (isContact)
coll.hitvelocity.z = bnv;
coll.hitdistance = bnd; //actual contact distance ...
//coll.hitRigid = rigid; // collision type
return hittime;
}
float HitPlane::HitTest(const Ball * const pball, const float dtime, CollisionEvent& coll) const
{
if (!m_fEnabled) return -1.0f;
//slintf("HitPlane test - %f %f\n", pball->m_pos.z, pball->m_vel.z);
const float bnv = m_normal.Dot(pball->m_vel); // speed in normal direction
if (bnv > C_CONTACTVEL) // return if clearly ball is receding from object
return -1.0f;
const float bnd = m_normal.Dot(pball->m_pos) - pball->m_radius - m_d; // distance from plane to ball surface
if (bnd < pball->m_radius*-2.0f) //!! solely responsible for ball through playfield?? check other places, too (radius*2??)
return -1.0f; // excessive penetration of plane ... no collision HACK
float hittime;
#ifdef NEW_PHYSICS
bool isContact = false;
// slow moving ball? then either contact or no collision at all
if (bnd <= (float)PHYS_TOUCH)
{
if (fabsf(bnv) <= C_CONTACTVEL)
{
hittime = 0;
isContact = true;
}
else if (bnd <= 0.f)
hittime = 0; // zero time for rigid fast bodies
else
hittime = bnd / -bnv;
}
else if (fabsf(bnv) > C_LOWNORMVEL) // not velocity low?
hittime = bnd / -bnv; // rate ok for safe divide
else
return -1.0f; // wait for touching
#else
if (fabsf(bnv) <= C_CONTACTVEL)
{
if (fabsf(bnd) <= (float)PHYS_TOUCH)
{
coll.m_isContact = true;
coll.m_hitnormal = m_normal;
coll.m_hit_org_normalvelocity = bnv; // remember original normal velocity
coll.m_hitdistance = bnd;
//coll.m_hitRigid = true;
return 0.0f; // hittime is ignored for contacts
}
else
return -1.0f; // large distance, small velocity -> no hit
}
hittime = bnd / (-bnv); // rate ok for safe divide
if (hittime < 0.f)
hittime = 0.0f; // already penetrating? then collide immediately
#endif
if (infNaN(hittime) || hittime < 0.f || hittime > dtime)
return -1.0f; // time is outside this frame ... no collision
coll.m_hitnormal = m_normal;
coll.m_hitdistance = bnd; // actual contact distance
//coll.m_hitRigid = true; // collision type
#ifdef NEW_PHYSICS
if (isContact)
{
coll.m_isContact = true;
coll.m_hit_org_normalvelocity = bnv; // remember original normal velocity
}
#endif
return hittime;
}
