From d8b323e230d62dba18b9dc61c93738c880fdb240 Mon Sep 17 00:00:00 2001
From: Robin Engman <robinengman@hotmail.com>
Date: Mon, 16 Dec 2013 10:28:49 +0100
Subject: [PATCH] Extractable collision point for SphereVSSphere

---
 Code/OysterPhysics3D/OysterCollision3D.cpp | 26 ++++++++++++++++------
 Code/OysterPhysics3D/Point.cpp             |  2 +-
 Code/OysterPhysics3D/Sphere.cpp            |  2 +-
 3 files changed, 21 insertions(+), 9 deletions(-)

diff --git a/Code/OysterPhysics3D/OysterCollision3D.cpp b/Code/OysterPhysics3D/OysterCollision3D.cpp
index a5d4117c..994513a6 100644
--- a/Code/OysterPhysics3D/OysterCollision3D.cpp
+++ b/Code/OysterPhysics3D/OysterCollision3D.cpp
@@ -249,7 +249,7 @@ namespace Oyster { namespace Collision3D { namespace Utility
 		return true; // Passed all tests, is in same position
 	}
 
-	bool Intersect( const Point &pointA, const Point &pointB, const ::Oyster::Math::Float3& worldPointOfContact )
+	bool Intersect( const Point &pointA, const Point &pointB, ::Oyster::Math::Float3& worldPointOfContact )
 	{
 		return false;
 	}
@@ -284,12 +284,12 @@ namespace Oyster { namespace Collision3D { namespace Utility
 		return false;
 	}
 
-	bool Intersect( const Ray &ray, const Point &point, ::Oyster::Math::Float &connectDistance, const ::Oyster::Math::Float3& worldPointOfContact )
+	bool Intersect( const Ray &ray, const Point &point, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float3& worldPointOfContact )
 	{
 		return false;
 	}
 	
-	bool Intersect( const Ray &rayA, const Ray &rayB, ::Oyster::Math::Float &connectDistanceA, ::Oyster::Math::Float &connectDistanceB, const ::Oyster::Math::Float3& worldPointOfContact )
+	bool Intersect( const Ray &rayA, const Ray &rayB, ::Oyster::Math::Float &connectDistanceA, ::Oyster::Math::Float &connectDistanceB, ::Oyster::Math::Float3& worldPointOfContact )
 	{
 		return false;
 	}
@@ -336,20 +336,32 @@ namespace Oyster { namespace Collision3D { namespace Utility
 		return false;
 	}
 
-	bool Intersect( const Sphere &sphere, const Point &point, const ::Oyster::Math::Float3& worldPointOfContact )
+	bool Intersect( const Sphere &sphere, const Point &point, ::Oyster::Math::Float3& worldPointOfContact )
 	{
 		return false;
 	}
 	
-	bool Intersect( const Sphere &sphere, const Ray &ray, ::Oyster::Math::Float &connectDistance, const ::Oyster::Math::Float3& worldPointOfContact )
+	bool Intersect( const Sphere &sphere, const Ray &ray, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float3& worldPointOfContact )
 	{
 		return false;
 	}
 	
-	bool Intersect( const Sphere &sphereA, const Sphere &sphereB, const ::Oyster::Math::Float3& worldPointOfContact )
+	bool Intersect( const Sphere &sphereA, const Sphere &sphereB, ::Oyster::Math::Float3& worldPointOfContact )
 	{
-		Ray sphereRay(sphereA.center, Float3(sphereB.center-sphereA.center).Normalize());
+		//Float3 C = sphereA.center;
+		//C -= sphereB.center;
+		//Float r = (sphereA.radius + sphereB.radius);
 
+		//if (r*r >= C.Dot(C))
+		//{
+		//	Float distance;
+
+		//	Intersect(sphereA, Ray(sphereB.center, C.Normalize()), distance);
+
+		//	worldPointOfContact = sphereB.center+C.Normalize()*distance;
+
+		//	return true; // Intersect detected!
+		//}
 
 		return false;
 	}
diff --git a/Code/OysterPhysics3D/Point.cpp b/Code/OysterPhysics3D/Point.cpp
index 2981f268..ea6691a7 100644
--- a/Code/OysterPhysics3D/Point.cpp
+++ b/Code/OysterPhysics3D/Point.cpp
@@ -56,7 +56,7 @@ bool Point::Intersects( const ICollideable &target, ::Oyster::Math::Float3 &worl
 	case Type_point: return Utility::Intersect( *this, *(Point*)&target, worldPointOfContact );
 	case Type_ray: return Utility::Intersect( *(Ray*)&target, *this, ((Ray*)&target)->collisionDistance, worldPointOfContact );
 	case Type_sphere: return Utility::Intersect( *(Sphere*)&target, *this, worldPointOfContact );
-	case Type_plane: return Utility::Intersect( *(Plane*)&target, *this, worldPointOfContact );
+	//case Type_plane: return Utility::Intersect( *(Plane*)&target, *this, worldPointOfContact );
 	// case Type_triangle: return false; // TODO: 
 	case Type_box_axis_aligned: return false; // return Utility::Intersect( *(BoxAxisAligned*)&target, *this, worldPointOfContact );
 	case Type_box: return false; // return Utility::Intersect( *(Box*)&target, *this, worldPointOfContact );
diff --git a/Code/OysterPhysics3D/Sphere.cpp b/Code/OysterPhysics3D/Sphere.cpp
index e31a361c..6c7ae223 100644
--- a/Code/OysterPhysics3D/Sphere.cpp
+++ b/Code/OysterPhysics3D/Sphere.cpp
@@ -53,7 +53,7 @@ bool Sphere::Intersects( const ICollideable &target, ::Oyster::Math::Float3 &wor
 	case Type_point: return Utility::Intersect( *this, *(Point*)&target, worldPointOfContact );
 	case Type_ray: return Utility::Intersect( *this, *(Ray*)&target, ((Ray*)&target)->collisionDistance, worldPointOfContact );
 	case Type_sphere: return Utility::Intersect( *this, *(Sphere*)&target, worldPointOfContact );
-	case Type_plane: return Utility::Intersect( *(Plane*)&target, *this, worldPointOfContact );
+	//case Type_plane: return Utility::Intersect( *(Plane*)&target, *this, worldPointOfContact );
 	// case Type_triangle: return false; // TODO: 
 	case Type_box_axis_aligned: return false; // return Utility::Intersect( *(BoxAxisAligned*)&target, *this, worldPointOfContact );
 	case Type_box: return false; // return Utility::Intersect( *(Box*)&target, *this, worldPointOfContact );