bool Collision::Octree_Capsule(int modelID, const Capsule& capsule, HitInfo& hitInfo) {
MV1_COLL_RESULT_POLY_DIM mv1HitInfo;
mv1HitInfo = MV1CollCheck_Capsule(modelID, -1, Convert::ToVECTOR(capsule.p1), Convert::ToVECTOR(capsule.p2), capsule.radius);
if (mv1HitInfo.HitNum < 1) {
return false;
}
int hitNum = mv1HitInfo.HitNum;
Vector3 pos;
Vector3 normal;
for (int i = 0; i < hitNum; ++i) {
VECTOR p = mv1HitInfo.Dim[i].HitPosition;
pos += Vector3(p.x, p.y, p.z);
VECTOR n = mv1HitInfo.Dim[i].Normal;
normal += Vector3(n.x, n.y, n.z);
}
pos /= hitNum;
normal /= hitNum;
hitInfo.intersect = pos;
hitInfo.normal = normal.GetNormal();
MV1CollResultPolyDimTerminate(mv1HitInfo);
return true;
}
void WorldNode::SetDirection(const Vector3& Direction, const Mezzanine::TransformSpace& TS, const Vector3& LocalAxis)
{
static const Vector3 Zero(0,0,0);
if(Direction == Zero)
return;
Vector3 NormalizedDir = Direction.GetNormal();
switch(TS)
{
default:
case Mezzanine::TS_World:
{
// Do nothing
break;
}
case Mezzanine::TS_Local:
{
NormalizedDir = GetOrientation() * NormalizedDir;
break;
}
case Mezzanine::TS_Parent:
{
if(Parent) NormalizedDir = Parent->GetOrientation() * NormalizedDir;
else return; /// @todo May want to change this to an exception, maybe.
break;
}
}
Quaternion FinalOrientation;
if(FixedYaw)
{
Vector3 XVec = FixedYawAxis.CrossProduct(NormalizedDir);
XVec.Normalize();
Vector3 YVec = NormalizedDir.CrossProduct(XVec);
YVec.Normalize();
Quaternion ZToTarget(XVec,YVec,NormalizedDir);
if(LocalAxis == Vector3::Neg_Unit_Z())
{
FinalOrientation.SetValues(-ZToTarget.Y,-ZToTarget.Z,ZToTarget.W,ZToTarget.X);
}else{
FinalOrientation = ZToTarget * (LocalAxis.GetRotationToAxis(Vector3::Unit_Z()));
}
}else{
Quaternion CurrOri = GetOrientation();
Vector3 CurrDir = CurrOri * LocalAxis;
if( (CurrDir+NormalizedDir).SquaredLength() < 0.00005 )
{
FinalOrientation.SetValues(-CurrOri.Y,-CurrOri.Z,CurrOri.W,CurrOri.X);
}else{
FinalOrientation = (CurrDir.GetRotationToAxis(NormalizedDir)) * CurrOri;
}
}
SetOrientation(FinalOrientation);
}
bool Collision::BoundingShpere_BoundingSphere(const BoundingSphere& sphere1, const BoundingSphere& sphere2, HitInfo& hitInfo) {
float radius = sphere1.radius + sphere2.radius;
Vector3 distance = sphere2.center - sphere1.center;
if (distance.SquareLength() >= radius * radius)
return false;
//中央を結んだベクトルの正規化
Vector3 n = distance.GetNormal();
hitInfo.intersect = sphere2.center - radius * n;
return true;
}
int main()
{
cout << "---------------------------Matrix 3--------------------------------" << endl;
Matrix3 TranslationXY;
TranslationXY = Mat3.m_TranslationXY(2, 2);
cout << TranslationXY;
cout << endl;
cout << "--------------------------MATRIX 4 --------------------------------" << endl;
Matrix4 RotationX;
RotationX = Mat4.m_RotationX(3);
cout << RotationX;
cout << endl;
Matrix4 RotationY;
RotationY = Mat4.m_RotationY(2);
cout << RotationY;
cout << endl;
Matrix4 RotationZ;
RotationZ = Mat4.m_RotationZ(2);
cout << RotationZ;
cout << endl;
Matrix4 TranslationXYZ;
TranslationXYZ = Mat4.m_TranslationXYZ(2, 2, 2);
cout << TranslationXYZ;
cout << endl;
Matrix4 mat;
mat = Mat4.m_OrthoProjection(2,2,2,2,2,2);
cout << mat;
cout << endl;
Matrix4 Identity;
mat = Mat4.m_CreateIdentity();
cout << Identity;
cout <<endl;
cout << "---------------------------COMMON MATH--------------------------------" << endl;
cout << ComMath.Pow2(2, 2)<< endl;
cout << ComMath.m_RadianConvert(360)<< endl;
cout << ComMath.m_degreeConvert(6) << endl;
Vect3.x = 2;
Vect3.y = 2;
Vect3.z =2;
Vect33.x = 4;
Vect33.y = 4;
Vect33.z = 4;
cout << ComMath.m_Lerp(Vect3, Vect33, 2) << endl;
cout << "---------------------------VECTOR 3--------------------------------" << endl;
Vect3.x = 2;
Vect3.y =2;
Vect3.z =2;
cout << Vect3.Magnitude()<<endl;
Vect3.x = 2;
Vect3.y =2;
Vect3.z =2;
cout << Vect33.Normalise(Vect3)<<endl;
Vect3.x = 2;
Vect3.y =2;
Vect3.z = 2;
cout << Vect33.GetNormal(Vect3) << endl;
Vect3.x = 2;
Vect3.y = 2;
Vect3.z =2;
cout <<Vect33.DotProduct(Vect3) << endl;
Vect3.x = 4;
Vect3.y = 4;
Vect3.z = 4;
Vect33.x =4;
Vect33.y = 4;
Vect3.z = 4;
cout << Vect3.EulerAngle(Vect3, Vect33)<<endl;
Vect3.x = 2;
Vect3.y = 2;
Vect3.z = 2;
Vect33.x = 2;
Vect33.y =2;
Vect33.z = 2;
cout << Vect3.CrossProduct(Vect3, Vect33)<<endl;
Matrix3 Transform;
Transform = Mat3;
Vect3.x =2;
Vect3.y = 2;
Vect3.z = 2;
cout << Vect3.m_TransformVector3(Mat3)<<endl;
Matrix3 tempM;
tempM = Mat3;
Vect3.x = 2;
Vect3.y = 2;
Vect3.z = 2;
cout << Vect3.Scale(Mat3);
cout << endl;
cout << "---------------------------VECTOR 4--------------------------------" << endl;
Vect4.x = 2;
Vect4.y =2;
Vect4.z =2;
Vect4.w = 2;
cout << Vect4.m_Magnitude()<<endl;
Vect4.x = 2;
Vect4.y =2;
Vect4.z =2;
Vect4.w = 2;
cout << Vect4.m_GetNormal(Vect4)<<endl;
Vect4.x = 2;
Vect4.y =2;
Vect4.z =2;
Vect4.w = 2;
cout << Vect4.m_Normalise(Vect4) <<endl;
Vect4.x = 2;
Vect4.y =2;
Vect4.z =2;
Vect4.w = 2;
cout << Vect4.m_DotProduct(Vect4) << endl;
cout << Vect4.m_RGBconverter(0xFFFFFFFF)<<endl;
Matrix4 Transform2;
Transform2 = Mat4;
Vect4.x = 2;
Vect4.y =2;
Vect4.z =2;
Vect4.w = 2;
cout << Vect4.m_TransformPoint(Mat4) << endl;
Matrix4 Transform3;
Transform3 = Mat4;
Vect4.x = 2;
Vect4.y =2;
Vect4.z =2;
Vect4.w = 2;
cout << Vect4.m_TransformVector4(Vect4, Mat4);
cout << endl;
Matrix4 mat4;
mat4 = Mat4;
Vect4.x = 2;
Vect4.y = 2;
Vect4.z = 2;
Vect4.w = 2;
cout << Vect4.Scale(Mat4);
cout << endl;
cout << "---------------------------VECTOR 2--------------------------------" << endl;
Vectors Point;
Point.x = 2;
Point.y =2;
cout << V2.pointSubtract(Point, 2) << endl;
Vectors Point2;
Point2.x = 2;
Point2.y =2;
cout << V2.pointAdd(Point2, 2)<<endl;
Vectors Point3;
Point3.x = 2;
Point3.y =2;
cout << V2.multiplyScalar(Point3, 2) << endl;
Vectors Point4;
Point4.x = 2;
Point4.y =2;
cout << V2.getMagnitude(Point4)<<endl;
Vectors Point5;
Point5.x = 2;
Point5.y =2;
cout<<V2.getNormal(Point5)<<endl;
getchar();
return 0;
}