collision sphere_collide_face(sphere s, vec3 v, ctri ct) {
//if (unlikely(sphere_intersects_face(s, ct.a, ct.b, ct.c, ct.norm))) { error("Collision Sphere Inside Mesh Face!"); }
float angle = vec3_dot(ct.norm, v);
float dist = vec3_dot(ct.norm, vec3_sub(s.center, ct.a));
float t0 = ( s.radius - dist) / angle;
float t1 = (-s.radius - dist) / angle;
float t = FLT_MAX;
if (between_or(t0, 0, 1)
&& between_or(t1, 0, 1)) { t = min(t0, t1); }
else if (between_or(t0, 0, 1)) { t = t0; }
else if (between_or(t1, 0, 1)) { t = t1; }
else { return collision_none(); }
vec3 cpoint = vec3_add(s.center, vec3_mul(v, t));
vec3 spoint = vec3_add(cpoint, vec3_mul(ct.norm, -s.radius));
if (!point_inside_triangle(spoint, ct.a, ct.b, ct.c)) {
return collision_none();
} else {
return collision_new(t, spoint, ct.norm);
}
}
TEST(test8, tests)
{
cg::point_2 p11(10, 10);
cg::point_2 p12(0, 0);
cg::point_2 p13(20, 5);
cg::point_2 p2(6, 5);
cg::triangle_2d tr(p11, p12, p13);
ASSERT_EQ(point_inside_triangle(tr, p2), true);
}
TEST(test5, tests)
{
cg::point_2 p11(0, 0);
cg::point_2 p12(10, 0);
cg::point_2 p13(10, 10);
cg::point_2 p2(-10, -10);
cg::triangle_2d tr(p11, p12, p13);
ASSERT_EQ(point_inside_triangle(tr, p2), false);
}
collision point_collide_face(vec3 p, vec3 v, ctri ct) {
float angle = vec3_dot(ct.norm, v);
float dist = vec3_dot(ct.norm, vec3_sub(p, ct.a));
float t0 = -dist / angle;
float t1 = -dist / angle;
float t = FLT_MAX;
if (between_or(t0, 0, 1)
&& between_or(t1, 0, 1)) { t = min(t0, t1); }
else if (between_or(t0, 0, 1)) { t = t0; }
else if (between_or(t1, 0, 1)) { t = t1; }
else { return collision_none(); }
vec3 cpoint = vec3_add(p, vec3_mul(v, t));
if (!point_inside_triangle(cpoint, ct.a, ct.b, ct.c)) {
return collision_none();
} else {
return collision_new(t, cpoint, ct.norm);
}
}
