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TestSphere for triangles

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This commit is contained in:
Irlan 2018-10-06 20:47:06 -03:00
parent cd4afc58b0
commit 69e2cd4c56
3 changed files with 23 additions and 0 deletions
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2
include/bounce/dynamics/shapes/mesh_shape.h
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@ -41,6 +41,8 @@ public:
bool TestSphere(b3TestSphereOutput* output, const b3Sphere& sphere, const b3Transform& xf) const;
bool TestSphere(b3TestSphereOutput* output, const b3Sphere& sphere, const b3Transform& xf, u32 childIndex) const;
bool RayCast(b3RayCastOutput* output, const b3RayCastInput& input, const b3Transform& xf) const;
bool RayCast(b3RayCastOutput* output, const b3RayCastInput& input, const b3Transform& xf, u32 childIndex) const;

1
include/bounce/dynamics/shapes/shape.h
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@ -153,6 +153,7 @@ protected:
friend class b3Body;
friend class b3Contact;
friend class b3ContactManager;
friend class b3MeshShape;
friend class b3MeshContact;
friend class b3ContactSolver;
friend class b3List1<b3Shape>;

20
src/bounce/dynamics/shapes/mesh_shape.cpp
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@ -17,7 +17,9 @@
*/
#include <bounce/dynamics/shapes/mesh_shape.h>
#include <bounce/dynamics/shapes/hull_shape.h>
#include <bounce/collision/shapes/mesh.h>
#include <bounce/collision/shapes/triangle_hull.h>
b3MeshShape::b3MeshShape()
{
@ -88,6 +90,24 @@ bool b3MeshShape::TestSphere(b3TestSphereOutput* output, const b3Sphere& sphere,
return false;
}
bool b3MeshShape::TestSphere(b3TestSphereOutput* output, const b3Sphere& sphere, const b3Transform& xf, u32 index) const
{
B3_ASSERT(index < m_mesh->triangleCount);
b3Triangle* triangle = m_mesh->triangles + index;
b3Vec3 v1 = m_mesh->vertices[triangle->v1];
b3Vec3 v2 = m_mesh->vertices[triangle->v2];
b3Vec3 v3 = m_mesh->vertices[triangle->v3];
b3TriangleHull hull(v1, v2, v3);
b3HullShape hullShape;
hullShape.m_body = m_body;
hullShape.m_hull = &hull;
hullShape.m_radius = B3_HULL_RADIUS;
return hullShape.TestSphere(output, sphere, xf);
}
bool b3MeshShape::RayCast(b3RayCastOutput* output, const b3RayCastInput& input, const b3Transform& xf, u32 index) const
{
B3_ASSERT(index < m_mesh->triangleCount);