1 | // Ripped from Magic Software |
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2 | |
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3 | #include "Include\dRay.h" |
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4 | #include "dxRay.h" |
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5 | |
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6 | int Find(const dVector3 Origin, dVector3 Direction, dReal Length, const dVector3 CCPos, const dMatrix3 CCRot, dReal CCRadius, dReal CCLength, dReal T[2]){ |
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7 | dVector3 U, V, W; |
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8 | Decompose(CCRot, U, V, W); |
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9 | |
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10 | dVector3 CCOrigin; |
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11 | CCOrigin[0] = CCPos[0] - (W[0] * CCLength / 2); |
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12 | CCOrigin[1] = CCPos[1] - (W[1] * CCLength / 2); |
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13 | CCOrigin[2] = CCPos[2] - (W[2] * CCLength / 2); |
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14 | CCOrigin[3] = CCPos[3] - (W[3] * CCLength / 2); |
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15 | |
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16 | dVector3 D; |
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17 | D[0] = dDOT(U, Direction); |
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18 | D[1] = dDOT(V, Direction); |
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19 | D[2] = dDOT(W, Direction); |
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20 | |
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21 | dReal DMag = Length; |
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22 | dReal InvDMag = REAL(1.0) / DMag; |
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23 | |
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24 | dVector3 Diff; |
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25 | Diff[0] = Origin[0] - CCOrigin[0]; |
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26 | Diff[1] = Origin[1] - CCOrigin[1]; |
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27 | Diff[2] = Origin[2] - CCOrigin[2]; |
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28 | Diff[3] = Origin[3] - CCOrigin[3]; |
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29 | |
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30 | dVector3 P; |
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31 | P[0] = dDOT(U, Diff); |
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32 | P[1] = dDOT(V, Diff); |
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33 | P[2] = dDOT(W, Diff); |
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34 | |
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35 | dReal CCRadiusSq = CCRadius * CCRadius; |
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36 | |
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37 | dReal Epsilon = 1e-12f; |
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38 | |
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39 | if (dFabs(D[2]) >= REAL(1.0) - Epsilon){ // line is parallel to capsule axis |
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40 | dReal Discr = CCRadiusSq - P[0] * P[0] - P[1] * P[1]; |
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41 | |
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42 | if (Discr >= REAL(0.0)){ |
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43 | dReal Root = dSqrt(Discr); |
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44 | T[0] = (-P[2] + Root) * InvDMag; |
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45 | T[1] = (CCLength - P[2] + Root) * InvDMag; |
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46 | return 2; |
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47 | } |
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48 | else return 0; |
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49 | } |
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50 | |
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51 | // test intersection with infinite cylinder |
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52 | dReal A = D[0] * D[0] + D[1] * D[1]; |
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53 | dReal B = P[0] * D[0] + P[1] * D[1]; |
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54 | dReal C = P[0] * P[0] + P[1] * P[1] - CCRadiusSq; |
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55 | dReal Discr = B * B - A * C; |
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56 | if (Discr < REAL(0.0)){ // line does not intersect infinite cylinder |
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57 | return 0; |
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58 | } |
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59 | |
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60 | int Count = 0; |
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61 | |
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62 | if (Discr > REAL(0.0)){ // line intersects infinite cylinder in two places |
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63 | dReal Root = dSqrt(Discr); |
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64 | dReal Inv = REAL(1.0) / A; |
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65 | |
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66 | dReal TTemp = (-B - Root) * Inv; |
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67 | |
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68 | dReal Tmp = P[2] + TTemp * D[2]; |
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69 | if (REAL(0.0) <= Tmp && Tmp <= CCLength){ |
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70 | T[Count++] = TTemp * InvDMag; |
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71 | } |
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72 | |
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73 | |
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74 | TTemp = (-B + Root) * Inv; |
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75 | Tmp = P[2] + TTemp * D[2]; |
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76 | if (REAL(0.0) <= Tmp && Tmp <= CCLength){ |
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77 | T[Count++] = TTemp * InvDMag; |
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78 | } |
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79 | |
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80 | if (Count == 2){ // line intersects capsule wall in two places |
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81 | return 2; |
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82 | } |
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83 | } |
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84 | else{ // line is tangent to infinite cylinder |
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85 | dReal TTemp = -B / A; |
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86 | dReal Tmp = P[2] + TTemp * D[2]; |
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87 | if (REAL(0.0) <= Tmp && Tmp <= CCLength){ |
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88 | T[0] = TTemp * InvDMag; |
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89 | return 1; |
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90 | } |
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91 | } |
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92 | |
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93 | // test intersection with bottom hemisphere |
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94 | // fA = 1 |
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95 | B += P[2] * D[2]; |
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96 | C += P[2] * P[2]; |
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97 | Discr = B * B - C; |
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98 | if (Discr > REAL(0.0)){ |
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99 | dReal Root = dSqrt(Discr); |
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100 | dReal TTemp = -B - Root; |
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101 | dReal Tmp = P[2] + TTemp * D[2]; |
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102 | if (Tmp <= REAL(0.0)){ |
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103 | T[Count++] = TTemp * InvDMag; |
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104 | if (Count == 2){ |
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105 | return 2; |
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106 | } |
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107 | } |
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108 | |
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109 | TTemp = -B + Root; |
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110 | Tmp = P[2] + TTemp * D[2]; |
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111 | if (Tmp <= REAL(0.0)){ |
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112 | T[Count++] = TTemp * InvDMag; |
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113 | if (Count == 2){ |
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114 | return 2; |
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115 | } |
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116 | } |
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117 | } |
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118 | else if (Discr == REAL(0.0)){ |
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119 | dReal TTemp = -B; |
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120 | dReal Tmp = P[2] + TTemp * D[2]; |
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121 | if (Tmp <= REAL(0.0)){ |
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122 | T[Count++] = TTemp * InvDMag; |
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123 | if (Count == 2){ |
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124 | return 2; |
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125 | } |
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126 | } |
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127 | } |
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128 | |
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129 | // test intersection with top hemisphere |
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130 | // fA = 1 |
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131 | B -= D[2] * CCLength; |
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132 | C += CCLength * (CCLength - REAL(2.0) * P[2]); |
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133 | |
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134 | Discr = B * B - C; |
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135 | if (Discr > REAL(0.0)){ |
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136 | dReal Root = dSqrt(Discr); |
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137 | dReal TTemp = -B - Root; |
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138 | dReal Tmp = P[2] + TTemp * D[2]; |
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139 | if (Tmp >= CCLength){ |
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140 | |
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141 | T[Count++] = TTemp * InvDMag; |
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142 | if (Count == 2){ |
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143 | return 2; |
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144 | } |
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145 | } |
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146 | |
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147 | TTemp = -B + Root; |
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148 | Tmp = P[2] + TTemp * D[2]; |
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149 | if (Tmp >= CCLength){ |
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150 | T[Count++] = TTemp * InvDMag; |
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151 | if (Count == 2){ |
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152 | return 2; |
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153 | } |
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154 | } |
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155 | } |
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156 | else if (Discr == REAL(0.0)){ |
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157 | dReal TTemp = -B; |
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158 | dReal Tmp = P[2] + TTemp * D[2]; |
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159 | if (Tmp >= CCLength){ |
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160 | T[Count++] = TTemp * InvDMag; |
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161 | if (Count == 2){ |
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162 | return 2; |
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163 | } |
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164 | } |
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165 | } |
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166 | return Count; |
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167 | } |
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168 | |
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169 | int dCollideCCR(dxGeom* RayGeom, dxGeom* CCGeom, int Flags, dContactGeom* Contacts, int Stride){ |
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170 | const dVector3& CCPos = *(const dVector3*)dGeomGetPosition(CCGeom); |
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171 | const dMatrix3& CCRot = *(const dMatrix3*)dGeomGetRotation(CCGeom); |
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172 | |
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173 | dReal CCRadius, CCLength; |
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174 | dGeomCCylinderGetParams(CCGeom, &CCRadius, &CCLength); |
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175 | |
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176 | dVector3 Origin, Direction; |
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177 | dGeomRayGet(RayGeom, Origin, Direction); |
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178 | dReal Length = dGeomRayGetLength(RayGeom); |
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179 | |
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180 | dReal T[2]; |
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181 | int Count = Find(Origin, Direction, Length, CCPos, CCRot, CCRadius, CCLength, T); |
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182 | int ContactCount = 0; |
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183 | for (int i = 0; i < Count; i++){ |
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184 | if (T[i] >= 0.0){ |
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185 | dContactGeom* Contact = CONTACT(Flags, Contacts, ContactCount, Stride); |
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186 | Contact->pos[0] = Origin[0] + T[i] * Direction[0] * Length; |
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187 | Contact->pos[1] = Origin[1] + T[i] * Direction[1] * Length; |
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188 | Contact->pos[2] = Origin[2] + T[i] * Direction[2] * Length; |
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189 | Contact->pos[3] = Origin[3] + T[i] * Direction[3] * Length; |
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190 | //Contact->normal = 0; |
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191 | Contact->depth = 0.0f; |
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192 | Contact->g1 = RayGeom; |
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193 | Contact->g2 = CCGeom; |
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194 | |
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195 | ContactCount++; |
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196 | } |
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197 | } |
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198 | return ContactCount; |
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199 | } |
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