public static CollisionPlane From3Points(MyVector p1, MyVector p2, MyVector p3)
{
MyVector normal = (p2 - p1) ^ (p3 - p1).Normalize();
CollisionPlane plane = new CollisionPlane(normal, -normal * p1);
return plane;
}
public bool IntersectPlane(out MyVector intersectionPoint, out MyVector intersectionNormal, out float collisionTime, MyVector startPoint,
MyVector endPoint, float dt, CollisionPlane plane)
{
intersectionPoint = new MyVector();
intersectionNormal = new MyVector();
collisionTime = 0;
return false;
}
public static CollisionPlane FromNormal(MyVector p, MyVector normal)
{
CollisionPlane plane = new CollisionPlane(normal, -normal * p);
return plane;
}
public object Clone()
{
CollisionPlane p = new CollisionPlane(this.Normal, this.D);
return p;
}
public bool IntersectPlane(out MyVector intersectionPoint, out MyVector intersectionNormal, out float collisionTime, MyVector startPoint, MyVector endPoint, float dt, CollisionPlane plane)
{
intersectionPoint = new MyVector();
intersectionNormal = -plane.Normal;
MyVector rVelocity = (endPoint - startPoint) / dt;
MyVector pVel = (rVelocity * plane.Normal) * plane.Normal;
MyVector translate = (endPoint - startPoint);
collisionTime = 0;
float speed;
float nPoints = 0;
for (int i = 0; i < m_hardPoints.Length; i++)
{
if ((m_hardPoints[i] - endPoint) * pVel > 0)
{
//the line doesn't cross the triangle
continue;
}
speed = pVel * (m_hardPoints[i] - startPoint);
if (speed < -0.04)
continue;
if (nPoints > 0 && speed > collisionTime)
continue;
if (nPoints == 0)
{
nPoints = 1;
intersectionPoint = m_hardPoints[i];
collisionTime = speed;
}
else if (speed < collisionTime)
{
nPoints = 1;
intersectionPoint = m_hardPoints[i];
collisionTime = speed;
}
else if (speed == collisionTime && nPoints > 0)
{
nPoints++;
intersectionPoint.Add(m_hardPoints[i]);
}
}
if (nPoints > 1)
{
intersectionPoint.Divide(nPoints);
}
return (nPoints > 0);
}