95 lines
2.7 KiB
C++
95 lines
2.7 KiB
C++
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// Ripped from Magic Software
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#include "Include\dRay.h"
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#include "dxRay.h"
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int dCollideSR(dxGeom* RayGeom, dxGeom* SphereGeom, int Flags, dContactGeom* Contacts, int Stride){
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const dVector3& Position = *(const dVector3*)dGeomGetPosition(SphereGeom);
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dReal Radius = dGeomSphereGetRadius(SphereGeom);
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dVector3 Origin, Direction;
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dGeomRayGet(RayGeom, Origin, Direction);
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dReal Length = dGeomRayGetLength(RayGeom);
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dVector3 Diff;
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Diff[0] = Origin[0] - Position[0];
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Diff[1] = Origin[1] - Position[1];
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Diff[2] = Origin[2] - Position[2];
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Diff[3] = Origin[3] - Position[3];
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Direction[0] *= Length;
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Direction[1] *= Length;
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Direction[2] *= Length;
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Direction[3] *= Length;
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dReal A = Length * Length;
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dReal B = dDOT(Diff, Direction);
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dReal C = dDOT(Diff, Diff) - (Radius * Radius);
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dReal Discr = B * B - A * C;
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if (Discr < REAL(0.0)){
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return 0;
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}
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else if (Discr > REAL(0.0)){
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dReal T[2];
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dReal Root = dSqrt(Discr);
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dReal InvA = REAL(1.0) / A;
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T[0] = (-B - Root) * InvA;
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T[1] = (-B + Root) * InvA;
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if (T[0] >= REAL(0.0)){
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dContactGeom* Contact0 = CONTACT(Flags, Contacts, 0, Stride);
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Contact0->pos[0] = Origin[0] + T[0] * Direction[0];
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Contact0->pos[1] = Origin[1] + T[0] * Direction[1];
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Contact0->pos[2] = Origin[2] + T[0] * Direction[2];
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Contact0->pos[3] = Origin[3] + T[0] * Direction[3];
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//Contact0->normal = 0;
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Contact0->depth = 0.0f;
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Contact0->g1 = RayGeom;
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Contact0->g2 = SphereGeom;
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dContactGeom* Contact1 = CONTACT(Flags, Contacts, 1, Stride);
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Contact1->pos[0] = Origin[0] + T[1] * Direction[0];
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Contact1->pos[1] = Origin[1] + T[1] * Direction[1];
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Contact1->pos[2] = Origin[2] + T[1] * Direction[2];
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Contact1->pos[3] = Origin[3] + T[1] * Direction[3];
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//Contact1->normal = 0;
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Contact1->depth = 0.0f;
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Contact1->g1 = RayGeom;
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Contact1->g2 = SphereGeom;
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return 2;
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}
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else if (T[1] >= REAL(0.0)){
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dContactGeom* Contact = CONTACT(Flags, Contacts, 1, Stride);
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Contact->pos[0] = Origin[0] + T[1] * Direction[0];
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Contact->pos[1] = Origin[1] + T[1] * Direction[1];
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Contact->pos[2] = Origin[2] + T[1] * Direction[2];
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Contact->pos[3] = Origin[3] + T[1] * Direction[3];
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//Contact->normal = 0;
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Contact->depth = 0.0f;
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Contact->g1 = RayGeom;
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Contact->g2 = SphereGeom;
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return 1;
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}
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else return 0;
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}
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else{
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dReal T;
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T = -B / A;
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if (T >= REAL(0.0)){
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dContactGeom* Contact = CONTACT(Flags, Contacts, 0, Stride);
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Contact->pos[0] = Origin[0] + T * Direction[0];
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Contact->pos[1] = Origin[1] + T * Direction[1];
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Contact->pos[2] = Origin[2] + T * Direction[2];
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Contact->pos[3] = Origin[3] + T * Direction[3];
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//Contact->normal = 0;
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Contact->depth = 0.0f;
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Contact->g1 = RayGeom;
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Contact->g2 = SphereGeom;
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return 1;
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}
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else return 0;
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}
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}
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