public Cylinder(Vector3 _center, float _radius, float _halfLength)
{
this.radius = _radius;
this.halfLength = _halfLength;
this.boundingCylinder = new BoundingCylinder(_center, _radius, _halfLength);
this.color = Color.Red.ToArgb();
this.initialize();
}
public static bool testSphereCylinder(TgcBoundingSphere sphere, BoundingCylinder cylinder)
{
Vector3 n = cylinder.HalfHeight;
Vector3 aPoint = cylinder.Position + n;
float d = -Vector3.Dot(n, aPoint);
Plane tapaSuperior = new Plane(n.X, n.Y, n.Z, d);
aPoint = cylinder.Position - n;
d = -Vector3.Dot(-n, aPoint);
Plane tapaInferior = new Plane(-n.X, -n.Y, -n.Z, d);
if (TgcCollisionUtils.classifyPointPlane(sphere.Center, tapaSuperior) != TgcCollisionUtils.PointPlaneResult.IN_FRONT_OF
&& TgcCollisionUtils.classifyPointPlane(sphere.Center, tapaInferior) != TgcCollisionUtils.PointPlaneResult.IN_FRONT_OF)
{
//el centro de la esfera esta entre ambos planos de las tapas del cilindro
//float distanceSq = distanciaDePuntoARecta(n, cylinder.Position, sphere.Center);
Vector3 cylAxisStart = cylinder.Position - n;
Vector3 cylAxisEnd = cylinder.Position + n;
float distanceSq = TgcCollisionUtils.sqDistPointSegment(cylAxisStart, cylAxisEnd, sphere.Center);
if (distanceSq <= FastMath.Pow2(cylinder.Radius + sphere.Radius))
return true;
else
return false;
}
else
{
return false;
}
}