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Name changes, formatting, and comments for readability.

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This commit is contained in:
Andrew Meadows 2014-01-03 16:01:31 -08:00
parent 930d9957f3
commit ea88f00ce5
2 changed files with 40 additions and 32 deletions
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46
libraries/shared/src/GeometryUtil.cpp
View file

@ -31,16 +31,20 @@ glm::vec3 computeVectorFromPointToSegment(const glm::vec3& point, const glm::vec
}
}
bool findSpherePenetration(const glm::vec3& localPoint, const glm::vec3& direction,
float combinedRadius, glm::vec3& penetration) {
float vectorLength = glm::length(localPoint);
// Computes the penetration between a point and a sphere (centered at the origin)
// if point is inside sphere: returns true and stores the result in 'penetration'
// (the vector that would move the point outside the sphere)
// otherwise returns false
bool findSpherePenetration(const glm::vec3& point, const glm::vec3& defaultDirection, float sphereRadius,
glm::vec3& penetration) {
float vectorLength = glm::length(point);
if (vectorLength < EPSILON) {
penetration = direction * combinedRadius;
penetration = defaultDirection * sphereRadius;
return true;
}
float distance = vectorLength - combinedRadius;
float distance = vectorLength - sphereRadius;
if (distance < 0.0f) {
penetration = localPoint * (-distance / vectorLength);
penetration = point * (-distance / vectorLength);
return true;
}
return false;
@ -48,14 +52,12 @@ bool findSpherePenetration(const glm::vec3& localPoint, const glm::vec3& directi
bool findSpherePointPenetration(const glm::vec3& sphereCenter, float sphereRadius,
const glm::vec3& point, glm::vec3& penetration) {
return findSpherePenetration(point - sphereCenter, glm::vec3(0.0f, -1.0f, 0.0f),
sphereRadius, penetration);
return findSpherePenetration(point - sphereCenter, glm::vec3(0.0f, -1.0f, 0.0f), sphereRadius, penetration);
}
bool findPointSpherePenetration(const glm::vec3& point, const glm::vec3& sphereCenter,
float sphereRadius, glm::vec3& penetration) {
return findSpherePenetration(sphereCenter - point, glm::vec3(0.0f, -1.0f, 0.0f),
sphereRadius, penetration);
return findSpherePenetration(sphereCenter - point, glm::vec3(0.0f, -1.0f, 0.0f), sphereRadius, penetration);
}
bool findSphereSpherePenetration(const glm::vec3& firstCenter, float firstRadius,
@ -65,8 +67,8 @@ bool findSphereSpherePenetration(const glm::vec3& firstCenter, float firstRadius
bool findSphereSegmentPenetration(const glm::vec3& sphereCenter, float sphereRadius,
const glm::vec3& segmentStart, const glm::vec3& segmentEnd, glm::vec3& penetration) {
return findSpherePenetration(computeVectorFromPointToSegment(sphereCenter, segmentStart, segmentEnd),
glm::vec3(0.0f, -1.0f, 0.0f), sphereRadius, penetration);
return findSpherePenetration(computeVectorFromPointToSegment(sphereCenter, segmentStart, segmentEnd),
glm::vec3(0.0f, -1.0f, 0.0f), sphereRadius, penetration);
}
bool findSphereCapsulePenetration(const glm::vec3& sphereCenter, float sphereRadius, const glm::vec3& capsuleStart,
@ -75,32 +77,32 @@ bool findSphereCapsulePenetration(const glm::vec3& sphereCenter, float sphereRad
capsuleStart, capsuleEnd, penetration);
}
bool findPointCapsuleConePenetration(const glm::vec3& point, const glm::vec3& segmentStart,
const glm::vec3& segmentEnd, float startRadius, float endRadius, glm::vec3& penetration) {
bool findPointCapsuleConePenetration(const glm::vec3& point, const glm::vec3& capsuleStart,
const glm::vec3& capsuleEnd, float startRadius, float endRadius, glm::vec3& penetration) {
// compute the projection of the point vector onto the segment vector
glm::vec3 segmentVector = segmentEnd - segmentStart;
glm::vec3 segmentVector = capsuleEnd - capsuleStart;
float lengthSquared = glm::dot(segmentVector, segmentVector);
if (lengthSquared < EPSILON) { // start and end the same
return findPointSpherePenetration(point, segmentStart,
return findPointSpherePenetration(point, capsuleStart,
glm::max(startRadius, endRadius), penetration);
}
float proj = glm::dot(point - segmentStart, segmentVector) / lengthSquared;
float proj = glm::dot(point - capsuleStart, segmentVector) / lengthSquared;
if (proj <= 0.0f) { // closest to the start
return findPointSpherePenetration(point, segmentStart, startRadius, penetration);
return findPointSpherePenetration(point, capsuleStart, startRadius, penetration);
} else if (proj >= 1.0f) { // closest to the end
return findPointSpherePenetration(point, segmentEnd, endRadius, penetration);
return findPointSpherePenetration(point, capsuleEnd, endRadius, penetration);
} else { // closest to the middle
return findPointSpherePenetration(point, segmentStart + segmentVector * proj,
return findPointSpherePenetration(point, capsuleStart + segmentVector * proj,
glm::mix(startRadius, endRadius, proj), penetration);
}
}
bool findSphereCapsuleConePenetration(const glm::vec3& sphereCenter,
float sphereRadius, const glm::vec3& segmentStart, const glm::vec3& segmentEnd,
float sphereRadius, const glm::vec3& capsuleStart, const glm::vec3& capsuleEnd,
float startRadius, float endRadius, glm::vec3& penetration) {
return findPointCapsuleConePenetration(sphereCenter, segmentStart, segmentEnd,
return findPointCapsuleConePenetration(sphereCenter, capsuleStart, capsuleEnd,
startRadius + sphereRadius, endRadius + sphereRadius, penetration);
}

26
libraries/shared/src/GeometryUtil.h
View file

@ -13,11 +13,17 @@
glm::vec3 computeVectorFromPointToSegment(const glm::vec3& point, const glm::vec3& start, const glm::vec3& end);
bool findSpherePenetration(const glm::vec3& localPoint, const glm::vec3& direction,
float combinedRadius, glm::vec3& penetration);
/// Computes the penetration between a point and a sphere (centered at the origin)
/// \param point the point location relative to sphere center (origin)
/// \param defaultDirection the direction of the pentration when the point is near the origin
/// \param sphereRadius the radius of the sphere
/// \param penetration the displacement that would move the point out of penetration with the sphere
/// \return true if point is inside sphere, otherwise false
bool findSpherePenetration(const glm::vec3& point, const glm::vec3& defaultDirection,
float sphereRadius, glm::vec3& penetration);
bool findSpherePointPenetration(const glm::vec3& sphereCenter, float sphereRadius,
const glm::vec3& penetrateeLocation, glm::vec3& penetration);
const glm::vec3& point, glm::vec3& penetration);
bool findPointSpherePenetration(const glm::vec3& point, const glm::vec3& sphereCenter,
float sphereRadius, glm::vec3& penetration);
@ -26,17 +32,17 @@ bool findSphereSpherePenetration(const glm::vec3& firstCenter, float firstRadius
const glm::vec3& secondCenter, float secondRadius, glm::vec3& penetration);
bool findSphereSegmentPenetration(const glm::vec3& sphereCenter, float sphereRadius,
const glm::vec3& penetrateeStart, const glm::vec3& penetrateeEnd, glm::vec3& penetration);
const glm::vec3& segmentStart, const glm::vec3& segmentEnd, glm::vec3& penetration);
bool findSphereCapsulePenetration(const glm::vec3& sphereCenter, float sphereRadius, const glm::vec3& penetrateeStart,
const glm::vec3& penetrateeEnd, float capsuleRadius, glm::vec3& penetration);
bool findSphereCapsulePenetration(const glm::vec3& sphereCenter, float sphereRadius, const glm::vec3& capsuleStart,
const glm::vec3& capsuleEnd, float capsuleRadius, glm::vec3& penetration);
bool findPointCapsuleConePenetration(const glm::vec3& point, const glm::vec3& segmentStart,
const glm::vec3& segmentEnd, float startRadius, float endRadius, glm::vec3& penetration);
bool findPointCapsuleConePenetration(const glm::vec3& point, const glm::vec3& capsuleStart,
const glm::vec3& capsuleEnd, float startRadius, float endRadius, glm::vec3& penetration);
bool findSphereCapsuleConePenetration(const glm::vec3& sphereCenter, float sphereRadius,
const glm::vec3& penetrateeStart, const glm::vec3& penetrateeEnd,
float penetrateeStartRadius, float penetrateeEndRadius, glm::vec3& penetration);
const glm::vec3& capsuleStart, const glm::vec3& capsuleEnd,
float startRadius, float endRadius, glm::vec3& penetration);
bool findSpherePlanePenetration(const glm::vec3& sphereCenter, float sphereRadius,
const glm::vec4& plane, glm::vec3& penetration);