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Changed argument names in collision methods for improved readability.
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Andrew Meadows
parent
f78b7cda6f
commit
930d9957f3
2 changed files with 69 additions and 69 deletions
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@ -31,105 +31,105 @@ glm::vec3 computeVectorFromPointToSegment(const glm::vec3& point, const glm::vec
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}
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}
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bool findSpherePenetration(const glm::vec3& penetratorToPenetratee, const glm::vec3& direction,
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bool findSpherePenetration(const glm::vec3& localPoint, const glm::vec3& direction,
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float combinedRadius, glm::vec3& penetration) {
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float vectorLength = glm::length(penetratorToPenetratee);
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float vectorLength = glm::length(localPoint);
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if (vectorLength < EPSILON) {
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penetration = direction * combinedRadius;
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return true;
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}
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float distance = vectorLength - combinedRadius;
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if (distance < 0.0f) {
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penetration = penetratorToPenetratee * (-distance / vectorLength);
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penetration = localPoint * (-distance / vectorLength);
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return true;
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}
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return false;
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}
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bool findSpherePointPenetration(const glm::vec3& penetratorCenter, float penetratorRadius,
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const glm::vec3& penetrateeLocation, glm::vec3& penetration) {
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return findSpherePenetration(penetrateeLocation - penetratorCenter, glm::vec3(0.0f, -1.0f, 0.0f),
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penetratorRadius, penetration);
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bool findSpherePointPenetration(const glm::vec3& sphereCenter, float sphereRadius,
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const glm::vec3& point, glm::vec3& penetration) {
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return findSpherePenetration(point - sphereCenter, glm::vec3(0.0f, -1.0f, 0.0f),
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sphereRadius, penetration);
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}
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bool findPointSpherePenetration(const glm::vec3& penetratorLocation, const glm::vec3& penetrateeCenter,
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float penetrateeRadius, glm::vec3& penetration) {
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return findSpherePenetration(penetrateeCenter - penetratorLocation, glm::vec3(0.0f, -1.0f, 0.0f),
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penetrateeRadius, penetration);
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bool findPointSpherePenetration(const glm::vec3& point, const glm::vec3& sphereCenter,
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float sphereRadius, glm::vec3& penetration) {
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return findSpherePenetration(sphereCenter - point, glm::vec3(0.0f, -1.0f, 0.0f),
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sphereRadius, penetration);
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}
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bool findSphereSpherePenetration(const glm::vec3& penetratorCenter, float penetratorRadius,
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const glm::vec3& penetrateeCenter, float penetrateeRadius, glm::vec3& penetration) {
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return findSpherePointPenetration(penetratorCenter, penetratorRadius + penetrateeRadius, penetrateeCenter, penetration);
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bool findSphereSpherePenetration(const glm::vec3& firstCenter, float firstRadius,
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const glm::vec3& secondCenter, float secondRadius, glm::vec3& penetration) {
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return findSpherePointPenetration(firstCenter, firstRadius + secondRadius, secondCenter, penetration);
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}
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bool findSphereSegmentPenetration(const glm::vec3& penetratorCenter, float penetratorRadius,
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const glm::vec3& penetrateeStart, const glm::vec3& penetrateeEnd, glm::vec3& penetration) {
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return findSpherePenetration(computeVectorFromPointToSegment(penetratorCenter, penetrateeStart, penetrateeEnd),
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glm::vec3(0.0f, -1.0f, 0.0f), penetratorRadius, penetration);
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bool findSphereSegmentPenetration(const glm::vec3& sphereCenter, float sphereRadius,
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const glm::vec3& segmentStart, const glm::vec3& segmentEnd, glm::vec3& penetration) {
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return findSpherePenetration(computeVectorFromPointToSegment(sphereCenter, segmentStart, segmentEnd),
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glm::vec3(0.0f, -1.0f, 0.0f), sphereRadius, penetration);
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}
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bool findSphereCapsulePenetration(const glm::vec3& penetratorCenter, float penetratorRadius, const glm::vec3& penetrateeStart,
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const glm::vec3& penetrateeEnd, float penetrateeRadius, glm::vec3& penetration) {
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return findSphereSegmentPenetration(penetratorCenter, penetratorRadius + penetrateeRadius,
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penetrateeStart, penetrateeEnd, penetration);
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bool findSphereCapsulePenetration(const glm::vec3& sphereCenter, float sphereRadius, const glm::vec3& capsuleStart,
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const glm::vec3& capsuleEnd, float capsuleRadius, glm::vec3& penetration) {
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return findSphereSegmentPenetration(sphereCenter, sphereRadius + capsuleRadius,
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capsuleStart, capsuleEnd, penetration);
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}
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bool findPointCapsuleConePenetration(const glm::vec3& penetratorLocation, const glm::vec3& penetrateeStart,
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const glm::vec3& penetrateeEnd, float penetrateeStartRadius, float penetrateeEndRadius, glm::vec3& penetration) {
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bool findPointCapsuleConePenetration(const glm::vec3& point, const glm::vec3& segmentStart,
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const glm::vec3& segmentEnd, float startRadius, float endRadius, glm::vec3& penetration) {
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// compute the projection of the point vector onto the segment vector
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glm::vec3 segmentVector = penetrateeEnd - penetrateeStart;
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glm::vec3 segmentVector = segmentEnd - segmentStart;
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float lengthSquared = glm::dot(segmentVector, segmentVector);
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if (lengthSquared < EPSILON) { // start and end the same
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return findPointSpherePenetration(penetratorLocation, penetrateeStart,
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glm::max(penetrateeStartRadius, penetrateeEndRadius), penetration);
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return findPointSpherePenetration(point, segmentStart,
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glm::max(startRadius, endRadius), penetration);
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}
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float proj = glm::dot(penetratorLocation - penetrateeStart, segmentVector) / lengthSquared;
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float proj = glm::dot(point - segmentStart, segmentVector) / lengthSquared;
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if (proj <= 0.0f) { // closest to the start
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return findPointSpherePenetration(penetratorLocation, penetrateeStart, penetrateeStartRadius, penetration);
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return findPointSpherePenetration(point, segmentStart, startRadius, penetration);
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} else if (proj >= 1.0f) { // closest to the end
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return findPointSpherePenetration(penetratorLocation, penetrateeEnd, penetrateeEndRadius, penetration);
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return findPointSpherePenetration(point, segmentEnd, endRadius, penetration);
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} else { // closest to the middle
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return findPointSpherePenetration(penetratorLocation, penetrateeStart + segmentVector * proj,
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glm::mix(penetrateeStartRadius, penetrateeEndRadius, proj), penetration);
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return findPointSpherePenetration(point, segmentStart + segmentVector * proj,
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glm::mix(startRadius, endRadius, proj), penetration);
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}
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}
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bool findSphereCapsuleConePenetration(const glm::vec3& penetratorCenter,
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float penetratorRadius, const glm::vec3& penetrateeStart, const glm::vec3& penetrateeEnd,
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float penetrateeStartRadius, float penetrateeEndRadius, glm::vec3& penetration) {
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return findPointCapsuleConePenetration(penetratorCenter, penetrateeStart, penetrateeEnd,
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penetrateeStartRadius + penetratorRadius, penetrateeEndRadius + penetratorRadius, penetration);
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bool findSphereCapsuleConePenetration(const glm::vec3& sphereCenter,
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float sphereRadius, const glm::vec3& segmentStart, const glm::vec3& segmentEnd,
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float startRadius, float endRadius, glm::vec3& penetration) {
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return findPointCapsuleConePenetration(sphereCenter, segmentStart, segmentEnd,
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startRadius + sphereRadius, endRadius + sphereRadius, penetration);
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}
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bool findSpherePlanePenetration(const glm::vec3& penetratorCenter, float penetratorRadius,
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const glm::vec4& penetrateePlane, glm::vec3& penetration) {
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float distance = glm::dot(penetrateePlane, glm::vec4(penetratorCenter, 1.0f)) - penetratorRadius;
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bool findSpherePlanePenetration(const glm::vec3& sphereCenter, float sphereRadius,
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const glm::vec4& plane, glm::vec3& penetration) {
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float distance = glm::dot(plane, glm::vec4(sphereCenter, 1.0f)) - sphereRadius;
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if (distance < 0.0f) {
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penetration = glm::vec3(penetrateePlane) * distance;
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penetration = glm::vec3(plane) * distance;
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return true;
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}
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return false;
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}
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bool findCapsuleSpherePenetration(const glm::vec3& penetratorStart, const glm::vec3& penetratorEnd, float penetratorRadius,
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const glm::vec3& penetrateeCenter, float penetrateeRadius, glm::vec3& penetration) {
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if (findSphereCapsulePenetration(penetrateeCenter, penetrateeRadius,
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penetratorStart, penetratorEnd, penetratorRadius, penetration)) {
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bool findCapsuleSpherePenetration(const glm::vec3& capsuleStart, const glm::vec3& capsuleEnd, float capsuleRadius,
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const glm::vec3& sphereCenter, float sphereRadius, glm::vec3& penetration) {
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if (findSphereCapsulePenetration(sphereCenter, sphereRadius,
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capsuleStart, capsuleEnd, capsuleRadius, penetration)) {
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penetration = -penetration;
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return true;
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}
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return false;
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}
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bool findCapsulePlanePenetration(const glm::vec3& penetratorStart, const glm::vec3& penetratorEnd, float penetratorRadius,
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const glm::vec4& penetrateePlane, glm::vec3& penetration) {
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float distance = glm::min(glm::dot(penetrateePlane, glm::vec4(penetratorStart, 1.0f)),
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glm::dot(penetrateePlane, glm::vec4(penetratorEnd, 1.0f))) - penetratorRadius;
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bool findCapsulePlanePenetration(const glm::vec3& capsuleStart, const glm::vec3& capsuleEnd, float capsuleRadius,
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const glm::vec4& plane, glm::vec3& penetration) {
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float distance = glm::min(glm::dot(plane, glm::vec4(capsuleStart, 1.0f)),
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glm::dot(plane, glm::vec4(capsuleEnd, 1.0f))) - capsuleRadius;
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if (distance < 0.0f) {
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penetration = glm::vec3(penetrateePlane) * distance;
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penetration = glm::vec3(plane) * distance;
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return true;
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}
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return false;
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@ -13,39 +13,39 @@
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glm::vec3 computeVectorFromPointToSegment(const glm::vec3& point, const glm::vec3& start, const glm::vec3& end);
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bool findSpherePenetration(const glm::vec3& penetratorToPenetratee, const glm::vec3& direction,
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bool findSpherePenetration(const glm::vec3& localPoint, const glm::vec3& direction,
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float combinedRadius, glm::vec3& penetration);
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bool findSpherePointPenetration(const glm::vec3& penetratorCenter, float penetratorRadius,
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bool findSpherePointPenetration(const glm::vec3& sphereCenter, float sphereRadius,
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const glm::vec3& penetrateeLocation, glm::vec3& penetration);
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bool findPointSpherePenetration(const glm::vec3& penetratorLocation, const glm::vec3& penetrateeCenter,
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float penetrateeRadius, glm::vec3& penetration);
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bool findPointSpherePenetration(const glm::vec3& point, const glm::vec3& sphereCenter,
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float sphereRadius, glm::vec3& penetration);
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bool findSphereSpherePenetration(const glm::vec3& penetratorCenter, float penetratorRadius,
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const glm::vec3& penetrateeCenter, float penetrateeRadius, glm::vec3& penetration);
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bool findSphereSpherePenetration(const glm::vec3& firstCenter, float firstRadius,
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const glm::vec3& secondCenter, float secondRadius, glm::vec3& penetration);
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bool findSphereSegmentPenetration(const glm::vec3& penetratorCenter, float penetratorRadius,
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bool findSphereSegmentPenetration(const glm::vec3& sphereCenter, float sphereRadius,
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const glm::vec3& penetrateeStart, const glm::vec3& penetrateeEnd, glm::vec3& penetration);
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bool findSphereCapsulePenetration(const glm::vec3& penetratorCenter, float penetratorRadius, const glm::vec3& penetrateeStart,
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const glm::vec3& penetrateeEnd, float penetrateeRadius, glm::vec3& penetration);
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bool findSphereCapsulePenetration(const glm::vec3& sphereCenter, float sphereRadius, const glm::vec3& penetrateeStart,
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const glm::vec3& penetrateeEnd, float capsuleRadius, glm::vec3& penetration);
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bool findPointCapsuleConePenetration(const glm::vec3& penetratorLocation, const glm::vec3& penetrateeStart,
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const glm::vec3& penetrateeEnd, float penetrateeStartRadius, float penetrateeEndRadius, glm::vec3& penetration);
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bool findPointCapsuleConePenetration(const glm::vec3& point, const glm::vec3& segmentStart,
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const glm::vec3& segmentEnd, float startRadius, float endRadius, glm::vec3& penetration);
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bool findSphereCapsuleConePenetration(const glm::vec3& penetratorCenter,
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float penetratorRadius, const glm::vec3& penetrateeStart, const glm::vec3& penetrateeEnd,
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bool findSphereCapsuleConePenetration(const glm::vec3& sphereCenter, float sphereRadius,
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const glm::vec3& penetrateeStart, const glm::vec3& penetrateeEnd,
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float penetrateeStartRadius, float penetrateeEndRadius, glm::vec3& penetration);
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bool findSpherePlanePenetration(const glm::vec3& penetratorCenter, float penetratorRadius,
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const glm::vec4& penetrateePlane, glm::vec3& penetration);
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bool findSpherePlanePenetration(const glm::vec3& sphereCenter, float sphereRadius,
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const glm::vec4& plane, glm::vec3& penetration);
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bool findCapsuleSpherePenetration(const glm::vec3& penetratorStart, const glm::vec3& penetratorEnd, float penetratorRadius,
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const glm::vec3& penetrateeCenter, float penetrateeRadius, glm::vec3& penetration);
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bool findCapsuleSpherePenetration(const glm::vec3& capsuleStart, const glm::vec3& capsuleEnd, float capsuleRadius,
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const glm::vec3& sphereCenter, float sphereRadius, glm::vec3& penetration);
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bool findCapsulePlanePenetration(const glm::vec3& penetratorStart, const glm::vec3& penetratorEnd, float penetratorRadius,
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const glm::vec4& penetrateePlane, glm::vec3& penetration);
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bool findCapsulePlanePenetration(const glm::vec3& capsuleStart, const glm::vec3& capsuleEnd, float capsuleRadius,
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const glm::vec4& plane, glm::vec3& penetration);
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glm::vec3 addPenetrations(const glm::vec3& currentPenetration, const glm::vec3& newPenetration);
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