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96 lines
3.5 KiB
96 lines
3.5 KiB
// David Eberly, Geometric Tools, Redmond WA 98052
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// Copyright (c) 1998-2021
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// Distributed under the Boost Software License, Version 1.0.
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// https://www.boost.org/LICENSE_1_0.txt
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// https://www.geometrictools.com/License/Boost/LICENSE_1_0.txt
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// Version: 4.0.2019.08.13
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#pragma once
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#include <Mathematics/IntrAlignedBox2Circle2.h>
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#include <Mathematics/DistPointOrientedBox.h>
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// The find-intersection query is based on the document
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// https://www.geometrictools.com/Documentation/IntersectionMovingCircleRectangle.pdf
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namespace gte
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{
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template <typename Real>
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class TIQuery<Real, OrientedBox2<Real>, Circle2<Real>>
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{
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public:
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// The intersection query considers the box and circle to be solids;
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// that is, the circle object includes the region inside the circular
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// boundary and the box object includes the region inside the
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// rectangular boundary. If the circle object and rectangle object
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// overlap, the objects intersect.
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struct Result
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{
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bool intersect;
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};
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Result operator()(OrientedBox2<Real> const& box, Circle2<Real> const& circle)
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{
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DCPQuery<Real, Vector2<Real>, OrientedBox2<Real>> pbQuery;
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auto pbResult = pbQuery(circle.center, box);
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Result result;
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result.intersect = (pbResult.sqrDistance <= circle.radius * circle.radius);
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return result;
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}
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};
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template <typename Real>
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class FIQuery<Real, OrientedBox2<Real>, Circle2<Real>>
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:
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public FIQuery<Real, AlignedBox2<Real>, Circle2<Real>>
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{
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public:
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// See the base class for the definition of 'struct Result'.
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typename FIQuery<Real, AlignedBox2<Real>, Circle2<Real>>::Result
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operator()(OrientedBox2<Real> const& box, Vector2<Real> const& boxVelocity,
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Circle2<Real> const& circle, Vector2<Real> const& circleVelocity)
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{
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// Transform the oriented box to an axis-aligned box centered at
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// the origin and transform the circle accordingly. Compute the
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// velocity of the circle relative to the box.
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Real const zero(0), one(1), minusOne(-1);
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Vector2<Real> cdiff = circle.center - box.center;
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Vector2<Real> vdiff = circleVelocity - boxVelocity;
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Vector2<Real> C, V;
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for (int i = 0; i < 2; ++i)
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{
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C[i] = Dot(cdiff, box.axis[i]);
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V[i] = Dot(vdiff, box.axis[i]);
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}
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// Change signs on components, if necessary, to transform C to the
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// first quadrant. Adjust the velocity accordingly.
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Real sign[2];
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for (int i = 0; i < 2; ++i)
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{
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if (C[i] >= zero)
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{
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sign[i] = one;
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}
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else
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{
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C[i] = -C[i];
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V[i] = -V[i];
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sign[i] = minusOne;
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}
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}
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typename FIQuery<Real, AlignedBox2<Real>, Circle2<Real>>::Result result = { 0, zero, { zero, zero } };
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this->DoQuery(box.extent, C, circle.radius, V, result);
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if (result.intersectionType != 0)
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{
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// Transform back to the original coordinate system.
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result.contactPoint = box.center
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+ (sign[0] * result.contactPoint[0]) * box.axis[0]
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+ (sign[1] * result.contactPoint[1]) * box.axis[1];
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}
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return result;
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}
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};
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}
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