PfxBool pfxIntersectRayBox(const PfxRayInput &ray,PfxRayOutput &out,const PfxBox &box,const PfxTransform3 &transform)
{
// レイをBoxのローカル座標へ変換
PfxTransform3 transformBox = orthoInverse(transform);
PfxVector3 rayStartPosition = transformBox.getUpper3x3() * ray.m_startPosition + transformBox.getTranslation();
PfxVector3 rayDirection = transformBox.getUpper3x3() * ray.m_direction;
// 交差判定
PfxFloat tmpVariable=0.0f;
PfxVector3 tmpNormal(0.0f);
if(pfxIntersectRayAABB(rayStartPosition,rayDirection,PfxVector3(0.0f),box.m_half,tmpVariable,tmpNormal)) {
if(tmpVariable > 0.0f && tmpVariable < out.m_variable) {
out.m_contactFlag = true;
out.m_variable = tmpVariable;
out.m_contactPoint = ray.m_startPosition + tmpVariable * ray.m_direction;
out.m_contactNormal = transform.getUpper3x3() * tmpNormal;
out.m_subData.m_type = PfxSubData::NONE;
return true;
}
}
return false;
}
QVector<const AObject*> Teapot::collideSphere( const AObject * exclude, const float & radius, QVector3D & center, QVector3D * normal ) const
{
QVector<const AObject*> collides = AObject::collideSphere( exclude, radius, center, normal );
float depth;
QVector3D tmpNormal(0,1,0);
/*
if( Sphere::intersectSphere( position(), boundingSphereRadius(), center, radius, &tmpNormal, &depth ) )
{
collides.append( this );
center += tmpNormal * depth;
if( normal )
*normal = tmpNormal;
}
*/
if( Capsule::intersectSphere( position(), position()+QVector3D(0,2,0), boundingSphereRadius()/2.0f, center, radius, &tmpNormal, &depth ) )
{
collides.append( this );
center += tmpNormal * depth;
if( normal )
*normal = tmpNormal;
}
return collides;
}