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SimpleRigidBody::GetNormalAt Done 

implemented by using RayVsPlane tests
This commit is contained in:
Dander7BD 2013-12-18 14:49:47 +01:00
parent 5051a9e767
commit 09e55ddc30
1 changed files with 46 additions and 2 deletions
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48
Code/GamePhysics/Implementation/SimpleRigidBody.cpp
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@ -97,8 +97,52 @@ Sphere & SimpleRigidBody::GetBoundingSphere( Sphere &targetMem ) const
Float4 & SimpleRigidBody::GetNormalAt( const Float4 &worldPos, Float4 &targetMem ) const Float4 & SimpleRigidBody::GetNormalAt( const Float4 &worldPos, Float4 &targetMem ) const
{ {
//! @todo TODO: better implementation needed Float4 offset = worldPos - this->rigid.box.center;
return targetMem = (worldPos - this->rigid.box.center).GetNormalized(); Float distance = offset.Dot( offset );
Float3 normal = Float3::standard_unit_z;
if( distance != 0.0f )
{
Ray ray( Float4::standard_unit_w, offset / (Float)::std::sqrt(distance) );
Float minDistance = numeric_limits<Float>::max();
if( ray.Intersects(Plane(this->rigid.box.xAxis, this->rigid.box.boundingOffset.x)) )
{ // check along x-axis
if( ray.collisionDistance < 0.0f )
normal = -this->rigid.box.xAxis.xyz;
else
normal = this->rigid.box.xAxis.xyz;
minDistance = Abs( ray.collisionDistance );
}
if( ray.Intersects(Plane(this->rigid.box.yAxis, this->rigid.box.boundingOffset.y)) )
{ // check along y-axis
distance = Abs( ray.collisionDistance ); // recycling memory
if( minDistance > distance )
{
if( ray.collisionDistance < 0.0f )
normal = -this->rigid.box.yAxis.xyz;
else
normal = this->rigid.box.yAxis.xyz;
minDistance = distance;
}
}
if( ray.Intersects(Plane(this->rigid.box.zAxis, this->rigid.box.boundingOffset.z)) )
{ // check along z-axis
if( minDistance > Abs( ray.collisionDistance ) )
{
if( ray.collisionDistance < 0.0f )
normal = -this->rigid.box.zAxis.xyz;
else
normal = this->rigid.box.zAxis.xyz;
}
}
}
targetMem.xyz = normal;
return targetMem;
} }
Float3 & SimpleRigidBody::GetGravityNormal( Float3 &targetMem ) const Float3 & SimpleRigidBody::GetGravityNormal( Float3 &targetMem ) const