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optimize sph intersect

This commit is contained in:
cxgeorge 2001-06-10 05:34:50 +00:00
parent b050bd8459
commit 563355a48b
1 changed files with 13 additions and 8 deletions
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21
panda/src/collide/collisionSphere.cxx
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@ -124,16 +124,21 @@ test_intersection_from_sphere(CollisionHandler *record,
DCAST_INTO_R(sphere, entry.get_from(), 0);
LPoint3f from_center = sphere->get_center() * entry.get_wrt_space();
LVector3f from_radius_v =
LVector3f(sphere->get_radius(), 0.0, 0.0) * entry.get_wrt_space();
float from_radius = length(from_radius_v);
LPoint3f into_center = _center;
float into_radius = _radius;
//from_radius_v = LVector3f(sphere->get_radius(), 0.0, 0.0) * entry.get_wrt_space();
//float from_radius = length(from_radius_v);
LVector3f vec = from_center - into_center;
const LMatrix4f *pMat = &entry.get_wrt_space();
float from_radius = sphere->get_radius() *
sqrtf((*pMat)(0,0)*(*pMat)(0,0) +
(*pMat)(0,1)*(*pMat)(0,1) +
(*pMat)(0,2)*(*pMat)(0,2));
LVector3f vec = from_center - _center;
float dist2 = dot(vec, vec);
if (dist2 > (into_radius + from_radius) * (into_radius + from_radius)) {
float total_radius = _radius + from_radius;
if (dist2 > total_radius * total_radius) {
// No intersection.
return 0;
}
@ -148,7 +153,7 @@ test_intersection_from_sphere(CollisionHandler *record,
float dist = sqrtf(dist2);
LVector3f into_normal = normalize(vec);
LPoint3f into_intersection_point = into_normal * (dist - from_radius);
float into_depth = into_radius + from_radius - dist;
float into_depth = total_radius - dist;
new_entry->set_into_surface_normal(into_normal * entry.get_inv_wrt_space());
new_entry->set_into_intersection_point(into_intersection_point * entry.get_inv_wrt_space());