/// <summary>
/// Evaluate collisions with the moving sphere.
/// If returns true, there was a collision as described in collPrim,
/// else no collision and collPrim untouched.
/// </summary>
/// <param name="startPos"></param>
/// <param name="endPos"></param>
/// <param name="radius"></param>
/// <param name="collPrim"></param>
/// <returns></returns>
public override bool Collide(Vector3 startPos, Vector3 endPos, float radius, ref CollInfo collPrim)
{
bool hit = false;
float combinedRadius = WorldSphere.Radius + radius + Vector3.Distance(startPos, endPos) * 0.5f;
float distance = Vector3.Distance(WorldSphere.Center, (startPos + endPos) * 0.5f);
if (distance <= combinedRadius)
{
CollInfo test = new CollInfo();
test.DistSq = Single.MaxValue;
for (int i = 0; i < children.Count; ++i)
{
if (children[i].Collide(startPos, endPos, radius, ref test))
{
if (test.DistSq <= collPrim.DistSq)
{
collPrim = test;
collPrim.TopPrimitive = this;
hit = true;
}
}
}
}
else
{
/// Just a spot to put a breakpoint.
hit = false;
}
return(hit);
}
/// <summary>
/// Check for initial condition of contact. If so, fill in the collPrim
/// and return true, else return false and leave collPrim alone.
/// </summary>
/// <param name="p0"></param>
/// <param name="radius"></param>
/// <param name="collPrim"></param>
/// <returns></returns>
protected bool CheckTouching(Vector3 p0, float radius, ref CollInfo collPrim)
{
Vector3 p0Local = Vector3.Transform(p0, WorldToLocal);
Vector3 closestLocal = p0Local;
float lengthSq = p0Local.X * p0Local.X / (Radii.X * Radii.X)
+ p0Local.Y * p0Local.Y / (Radii.Y * Radii.Y)
+ p0Local.Z * p0Local.Z / (Radii.Z * Radii.Z);
if (lengthSq > 1.0f)
{
float invLength = (float)(1.0 / Math.Sqrt(lengthSq));
closestLocal *= invLength;
}
Vector3 closest = Vector3.Transform(closestLocal, LocalToWorld);
if (Vector3.DistanceSquared(closest, p0) <= radius * radius)
{
Vector3 normal = lengthSq < 1.0f
? p0 - LocalToWorld.Translation
: p0 - closest;
return(SetCollPrimTouching(
p0,
p0,
closest,
normal,
Vector3.Zero,
ref collPrim));
}
return(false);
}
/// <summary>
/// Helper func to set up a collision reporting struct.
/// </summary>
/// <param name="from"></param>
/// <param name="center"></param>
/// <param name="contact"></param>
/// <param name="normal"></param>
/// <param name="struck"></param>
/// <param name="collPrim"></param>
/// <returns></returns>
public bool SetCollPrim(
Vector3 from,
Vector3 center,
Vector3 contact,
Vector3 normal,
Vector3 struck,
ref CollInfo collPrim)
{
collPrim.DistSq = Vector3.DistanceSquared(from, contact);
collPrim.Center = center;
collPrim.Contact = contact;
if (normal.LengthSquared() == 0.0f)
{
collPrim.Normal = Vector3.UnitZ;
}
else
{
collPrim.Normal = normal;
}
collPrim.Struck = struck;
collPrim.Touching = false;
collPrim.LowPrimitive = this;
collPrim.TopPrimitive = this;
return(true);
}
/// <summary>
/// Check for initial condition of contact. If so, fill in the collPrim
/// and return true, else return false and leave collPrim alone.
/// </summary>
/// <param name="p0"></param>
/// <param name="radius"></param>
/// <param name="collPrim"></param>
/// <returns></returns>
protected bool CheckTouching(Vector3 p0, float radius, ref CollInfo collPrim)
{
Vector3 p0Local = Vector3.Transform(p0, WorldToLocal);
Vector3 closestLocal = ClosestPointLocal(p0Local);
Vector3 closest = Vector3.Transform(closestLocal, LocalToWorld);
if (Vector3.DistanceSquared(closest, p0) <= radius * radius)
{
Vector3 localNorm = Vector3.Zero;
if (p0Local.Z >= Length)
{
localNorm = Vector3.UnitZ;
}
else if (p0Local.Z <= 0)
{
localNorm = -Vector3.UnitZ;
}
else
{
localNorm.X = p0Local.X;
localNorm.Y = p0Local.Y;
}
Vector3 norm = Vector3.TransformNormal(localNorm, LocalToWorld);
/// Make sure the contact point is on the surface.
if ((closestLocal.Z < Length) && (closestLocal.Z > 0))
{
/// It's not on an end cap, check if it needs pushing out to the sides.
Vector2 xy = new Vector2(closestLocal.X, closestLocal.Y);
if (xy.LengthSquared() < Radius * Radius)
{
/// Yep, push it out.
xy.Normalize();
xy *= Radius;
closestLocal.X = xy.X;
closestLocal.Y = xy.Y;
closest = Vector3.Transform(closestLocal, LocalToWorld);
}
}
else
{
// This case happens when we're within the infinite cylinder
// but outside of either end cap.
return(false);
}
return(SetCollPrimTouching(
p0,
p0,
closest,
p0 - closest,
Vector3.Zero,
ref collPrim));
}
return(false);
}
/// <summary>
/// Fill in a collPrim for initial condition already in contact.
/// </summary>
/// <param name="p0"></param>
/// <param name="del"></param>
/// <param name="collPrim"></param>
/// <returns></returns>
private bool AlreadyTouching(Vector3 p0, Vector3 del, ref CollInfo collPrim)
{
Vector3 contact = Center + del;
return(SetCollPrimTouching(
p0,
p0,
contact,
p0 - contact,
Center,
ref collPrim));
}
/// <summary>
/// Helper func to set up a collision reporting struct.
/// For use when two bodies already touching at beginning of frame.
/// </summary>
/// <param name="from"></param>
/// <param name="center"></param>
/// <param name="contact"></param>
/// <param name="normal"></param>
/// <param name="collPrim"></param>
/// <returns></returns>
public bool SetCollPrimTouching(
Vector3 from,
Vector3 center,
Vector3 contact,
Vector3 normal,
Vector3 struck,
ref CollInfo collPrim)
{
SetCollPrim(from, center, contact, normal, struck, ref collPrim);
collPrim.Touching = true;
return(true);
}
} // end of Collide()
/// <summary>
/// Specialized check against other Movers
/// </summary>
/// <param name="other"></param>
/// <param name="collPrim"></param>
/// <returns></returns>
public bool Collide(Mover other, ref CollInfo collPrim)
{
float dt = Time.GameTimeFrameSeconds;
Vector3 p0 = other.Owner.Movement.Position;
Vector3 p1 = p0
- Owner.Movement.Velocity * dt
+ other.Owner.Movement.Velocity * dt;
return(Collide(
p0,
p1,
other.Radius,
ref collPrim));
}
/// <summary>
/// Helper func to set up a collision reporting struct.
/// </summary>
/// <param name="from"></param>
/// <param name="center"></param>
/// <param name="contact"></param>
/// <param name="normal"></param>
/// <param name="collPrim"></param>
/// <returns></returns>
protected bool SetCollPrim(
Vector3 from,
Vector3 center,
Vector3 contact,
Vector3 normal,
ref CollInfo collPrim)
{
return(SetCollPrim(
from,
center,
contact,
normal,
Vector3.Zero,
ref collPrim));
}
/// <summary>
/// Fill in a hitInfo struct from the input.
/// </summary>
/// <param name="best"></param>
/// <param name="radius"></param>
/// <returns></returns>
private HitInfo MakeHitScratch(CollInfo best, float radius)
{
GameActor other = best.TopPrimitive.Owner;
HitInfo hitScratch = new HitInfo();
hitScratch.Contact = best.Contact;
hitScratch.Center = best.Center;
hitScratch.Normal = Vector3.Normalize(best.Normal);
hitScratch.DistSq = best.DistSq;
hitScratch.Other = other;
hitScratch.Struck = best.Struck;
hitScratch.OtherMover = best.TopPrimitive as Mover;
hitScratch.Offset = MakeOffset(hitScratch, radius);
hitScratch.Touching = best.Touching;
hitScratch.Handled = false;
hitScratch.TimeStamp = Time.GameTimeTotalSeconds;
return(hitScratch);
}
/// <summary>
/// Check for initial condition of contact. If so, fill in the collPrim
/// and return true, else return false and leave collPrim alone.
/// </summary>
/// <param name="p0"></param>
/// <param name="radius"></param>
/// <param name="collPrim"></param>
/// <returns></returns>
private bool CheckTouching(Vector3 worldPos, float radius, ref CollInfo collPrim)
{
Vector3 closePos = ClosestPoint(worldPos);
if (Vector3.DistanceSquared(worldPos, closePos) <= radius * radius)
{
Vector3 normal = worldPos - closePos;
if (Vector3.Dot(normal, WorldNormal) < 0.0f)
{
normal = WorldNormal;
}
return(SetCollPrimTouching(
worldPos,
worldPos,
closePos,
normal,
Vector3.Zero,
ref collPrim));
}
return(false);
}
/// <summary>
/// Evaluate collisions with the moving sphere.
/// If returns true, there was a collision as described in collPrim,
/// else no collision and collPrim untouched.
/// </summary>
/// <param name="p0"></param>
/// <param name="p1"></param>
/// <param name="radius"></param>
/// <param name="collPrim"></param>
/// <returns></returns>
public override bool Collide(Vector3 p0, Vector3 p1, float radius, ref CollInfo collPrim)
{
///Check sphere first.
CollInfo testPrim = new CollInfo();
testPrim.DistSq = Single.MaxValue;
bool hit = false;
foreach (Rectangle rect in sides)
{
if (rect.Collide(p0, p1, radius, ref testPrim))
{
if (testPrim.DistSq < collPrim.DistSq)
{
hit = true;
collPrim = testPrim;
collPrim.TopPrimitive = this;
}
}
}
return(hit);
}
/// <summary>
/// Start, end and radii are passed in from a mover. This method tests
/// this mover's swept ellipsoid against all the non-moving things as
/// well as all the other movers which appear after it in the list.
/// The "first" param is the index of the next item in the list.
///
/// The listAll param seems to determine whether we just keep the nearest hit
/// or keep them all. It appears that listAll=false is used for physics collision
/// testing while listAll=true is used for WHEN Bumped testing. But, of course,
/// this is just a guess on my part since it's not documented. Argh.
/// </summary>
/// <param name="startPos0">start position of swept sphere</param>
/// <param name="endPos0">end position of swept sphere</param>
/// <param name="radii0">Radii of swept ellipsoid.</param>
/// <param name="first">This is the index of the first mover to check for collisions with. Start, end, and radii come from the previous mover. TODO (****) Change numbering so this is more clear.</param>
/// <param name="listAll">When true, all hits are listed. When false, only the nearest hit is listed.</param>
/// <param name="hits"></param>
/// <returns></returns>
private bool CollisionCheck(Vector3 startPos0, Vector3 endPos0, Vector3 radii0, int first, bool listAll, List <HitInfo> hits)
{
/// These are structs, no real allocation done here.
CollInfo curCollPrim = new CollInfo();
curCollPrim.DistSq = Single.MaxValue;
CollInfo best = new CollInfo();
best.DistSq = Single.MaxValue;
bool hit = false;
// Test the current swept ellipsoid against all the non-moving things.
List <CollisionPrimitive> relevants = things;
for (int ithing = 0; ithing < relevants.Count; ++ithing)
{
CollisionPrimitive thing = relevants[ithing];
if (thing.Owner.Ignored)
{
continue;
}
// Note we used the Z part of the radii. So, on squashed movers we
// might get some intersection.
// TODO (****) Actually figure out how to test a swept ellipsoid against
// the Primitive based collision shapes.
if (thing.Collide(startPos0, endPos0, radii0.Z, ref curCollPrim))
{
if (listAll)
{
HitInfo hitScratch = MakeHitScratch(curCollPrim, radii0.X);
hits.Add(hitScratch);
curCollPrim.DistSq = Single.MaxValue;
}
else
if (curCollPrim.DistSq <= best.DistSq)
{
hit = true;
best = curCollPrim;
endPos0 = best.Center;
if (best.Touching)
{
HitInfo hitScratch = MakeHitScratch(best, radii0.X);
hits.Add(hitScratch);
}
}
}
}
// Test the current mover against the remaining movers in the list.
// Note that in the case of hit testing blips this index may be -1.
int curMoverIndex = first - 1;
// If listAll is true, then we're testing for bump so test the full
// list since we have to worry about TouchCushions.
if (listAll)
{
first = 0;
}
for (int second = first; second < movers.Count; ++second)
{
Mover sphere = movers[second];
// Don't test against self.
if (second == curMoverIndex)
{
continue;
}
if (sphere.Owner.Ignored)
{
continue;
}
// Don't collide missiles with their launcher. Note that this assumes
// that the launcher is always in the list _ahead_ of the missile.
MissileChassis mc = movers[second].Owner.Chassis as MissileChassis;
if (mc != null && curMoverIndex >= 0 && mc.Launcher == movers[curMoverIndex].Owner)
{
continue;
}
Vector3 radii1 = sphere.Radius * sphere.Owner.SquashScale;
Vector3 hitContactPosition = Vector3.Zero;
Vector3 hitNormal = Vector3.UnitZ;
float hitT = -1;
bool hitTest = SweptPrims.SweptEllipsoidSweptEllipsoid(startPos0, endPos0, radii0, sphere.Center, sphere.Center + sphere.Delta, sphere.Radius * sphere.Owner.SquashScale, ref hitContactPosition, ref hitNormal, ref hitT);
if (hitTest)
{
Vector3 posAtCollision = MyMath.Lerp(startPos0, endPos0, hitT);
// Already touching?
if (hitT <= 0)
{
sphere.SetCollPrimTouching(startPos0, posAtCollision, hitContactPosition, -hitNormal, sphere.Center + hitT * sphere.Delta, ref curCollPrim);
}
else
{
sphere.SetCollPrim(startPos0, posAtCollision, hitContactPosition, -hitNormal, sphere.Center + hitT * sphere.Delta, ref curCollPrim);
}
if (listAll)
{
HitInfo hitScratch = MakeHitScratch(curCollPrim, radii0.X);
hits.Add(hitScratch);
curCollPrim.DistSq = Single.MaxValue;
}
else
if (curCollPrim.DistSq <= best.DistSq)
{
best = curCollPrim;
hit = true;
if (best.Touching)
{
HitInfo hitScratch = MakeHitScratch(best, radii0.X);
hits.Add(hitScratch);
}
}
} // end if hitTest
} // end of loop over other movers.
if (hit)
{
Debug.Assert(!listAll, "Hit shouldn't get set when listing all hits");
/// If it's touching, we've already applied, otherwise
/// do it here.
if (!best.Touching)
{
HitInfo hitScratch = MakeHitScratch(best, radii0.X);
hits.Add(hitScratch);
}
}
if (listAll && (hits.Count > 1))
{
hits.Sort(comparer);
}
return(hits.Count > 0);
}
/// <summary>
/// Evaluate collisions with the moving sphere.
/// If returns true, there was a collision as described in collPrim,
/// else no collision and collPrim untouched.
/// </summary>
/// <param name="startPositionOther"></param>
/// <param name="p1"></param>
/// <param name="radius"></param>
/// <param name="collPrim"></param>
/// <returns></returns>
public override bool Collide(Vector3 startPositionOther, Vector3 endPositionOther, float radius, ref CollInfo collPrim)
{
Vector3 myRadii = Radius * Owner.SquashScale;
/// Compensate for our motion.
// We can then use this for "this" motion while "other" is now motionless.
Vector3 endPositionThis = endPositionOther - Delta;
Vector3 centerCenterDelta = startPositionOther - Center;
float sumOfRadiiSquared = radius + Radius;
sumOfRadiiSquared *= sumOfRadiiSquared;
float centerCenterDistSquared = centerCenterDelta.LengthSquared();
double C = centerCenterDistSquared - sumOfRadiiSquared;
if (C <= 0.0)
{
/// Already touching
return(AlreadyTouching(startPositionOther, centerCenterDelta * Radius / (radius + Radius), ref collPrim));
}
/// The aren't touching. The only degeneracies to worry about
/// are that they aren't moving, they miss each other, or
/// they hit outside range p0->p1.
/// They aren't moving shows up as p1==p0.
/// A miss will show up as a lack of real roots to the quadratic.
/// Outside time range shows up as t < 0 || t > 1.
Vector3 dir = endPositionThis - startPositionOther;
double A = dir.LengthSquared();
if (A < Single.Epsilon)
{
/// Not moving and not already touching.
return(false);
}
double B = 2.0 * Vector3.Dot(dir, centerCenterDelta);
double determ = B * B - 4.0 * A * C;
if (determ < 0.0)
{
/// Missed.
return(false);
}
double t = -B - Math.Sqrt(determ);
t /= 2.0 * A;
if ((t < 0) || (t > 1))
{
/// Outside interval
return(false);
}
Vector3 centerOld = startPositionOther + ((float)t) * (endPositionOther - startPositionOther);
Vector3 normalOld = centerOld - Center;
Vector3 contactOld = Center + normalOld * Radius / (Radius + radius);
return(SetCollPrim(
startPositionOther,
centerOld,
contactOld,
normalOld,
Center + delta * (float)t,
ref collPrim));
} // end of Collide()
/// <summary>
/// Evaluate collisions with the moving sphere.
/// If returns true, there was a collision as described in collPrim,
/// else no collision and collPrim untouched.
/// </summary>
/// <param name="startPos"></param>
/// <param name="endPos"></param>
/// <param name="radius"></param>
/// <param name="collPrim"></param>
/// <returns></returns>
public override bool Collide(Vector3 startPos, Vector3 endPos, float radius, ref CollInfo collPrim)
{
/// Three possibilities of a collision here.
/// One is that the sphere hit our top or bottom cap
/// Second is the sphere hits the side.
/// Third is sphere hits edge between side and cap.
///
if (disabled)
{
return(false);
}
if (CheckTouching(startPos, radius, ref collPrim))
{
return(true);
}
Vector3 p0loc = Vector3.Transform(startPos, WorldToLocal);
Vector3 p1loc = Vector3.Transform(endPos, WorldToLocal);
float localRadius = WorldToLocalRadius(radius);
/// Check the end caps first.
/// Note that the cap checks look only for the sphere's tangent
/// hitting on the cap, not for further misses.
float t = CheckCapTop(p0loc, p1loc, localRadius);
if (IsHit(t))
{
Vector3 center = startPos + t * (endPos - startPos);
Vector3 norm = Vector3.TransformNormal(Vector3.UnitZ, LocalToWorld);
return(SetCollPrim(
startPos,
center,
center - norm * radius,
norm,
ref collPrim));
}
t = CheckCapBot(p0loc, p1loc, localRadius);
if (IsHit(t))
{
Vector3 center = startPos + t * (endPos - startPos);
Vector3 norm = Vector3.TransformNormal(-Vector3.UnitZ, LocalToWorld);
return(SetCollPrim(
startPos,
center,
center - norm * radius,
norm,
ref collPrim));
}
/// Now check the sides.
t = CheckSides(p0loc, p1loc, localRadius);
if (IsHit(t))
{
Vector3 localCenter = p0loc + t * (p1loc - p0loc);
if ((localCenter.Z >= 0) && (localCenter.Z <= Length))
{
Vector3 center = startPos + t * (endPos - startPos);
Vector3 localNorm = new Vector3(localCenter.X, localCenter.Y, 0.0f);
Vector3 norm = Vector3.TransformNormal(localNorm, LocalToWorld);
return(SetCollPrim(
startPos,
center,
center - norm * radius,
norm,
ref collPrim));
}
}
return(false);
}
/// <summary>
/// Evaluate collisions with the moving sphere.
/// If returns true, there was a collision as described in collPrim,
/// else no collision and collPrim untouched.
/// </summary>
/// <param name="p0"></param>
/// <param name="p1"></param>
/// <param name="radius"></param>
/// <param name="collPrim"></param>
/// <returns></returns>
public override bool Collide(Vector3 p0, Vector3 p1, float radius, ref CollInfo collPrim)
{
/// Bounding sphere test here!!!
if (disabled)
{
return(false);
}
if (CheckTouching(p0, radius, ref collPrim))
{
return(true);
}
/// Find point on sphere tangent to plane parallel to this.
Vector3 worldNormal = WorldNormal;
Vector3 pTan0 = p0 - worldNormal * radius;
Vector3 pTan1 = p1 - worldNormal * radius;
/// Project it along velocity onto plane
float stepDist = Vector3.Dot(pTan1 - pTan0, worldNormal);
if (stepDist >= -Single.Epsilon) /// We're moving away from it
{
return(false);
}
Vector3 center = planeToWorld.Translation;
/// Check if we're already inside the plane
float centerDist = Vector3.Dot(center, worldNormal) - Vector3.Dot(pTan0, worldNormal);
if (centerDist > 0)
{
if (centerDist > radius)
{
/// We're more than halfway embedded from the start, skip out
return(false);
}
pTan0 += centerDist * worldNormal;
pTan1 += centerDist * worldNormal;
centerDist = 0.0f;
}
float t = centerDist / stepDist;
if ((t < 0.0f) || (t > 1.0f))
{
return(false);
}
Vector3 pProj = pTan0 + t * (pTan1 - pTan0);
Vector3 pProjPlane = Vector3.Transform(pProj, worldToPlane);
if (Inside(pProjPlane))
{
/// The tangent on the sphere smacked into a side.
Vector3 centerAtT = p0 + t * (p1 - p0);
return(SetCollPrim(p0, centerAtT, pProj, centerAtT - pProj, ref collPrim));
}
/// pProj is where the sphere hits the plane.
/// Find the closest point on the rect to pProj
pProjPlane.X = MathHelper.Clamp(pProjPlane.X, -HalfWidth, HalfWidth);
pProjPlane.Y = MathHelper.Clamp(pProjPlane.Y, -HalfHeight, HalfHeight);
Vector3 pHit = Vector3.Transform(pProjPlane, planeToWorld);
/// Try for an early out.
if (Vector3.DistanceSquared(pHit, pProj) > radius * radius)
{
return(false);
}
/// pHit now the point on the rect the sphere will make first contact,
/// if indeed it's going to make contact.
/// Now cast a ray back from pHit to see where on the sphere makes contact.
if (RaySphere(p0, radius, pHit, pHit - (p1 - p0), ref t))
{
Vector3 centerAtT = p0 + t * (p1 - p0);
return(SetCollPrim(p0, centerAtT, pHit, centerAtT - pHit, ref collPrim));
}
return(false);
}
/// <summary>
/// Evaluate collisions with the moving sphere.
/// If returns true, there was a collision as described in collPrim,
/// else no collision and collPrim untouched.
/// </summary>
/// <param name="p0"></param>
/// <param name="p1"></param>
/// <param name="radius"></param>
/// <param name="collPrim"></param>
/// <returns></returns>
public override bool Collide(Vector3 p0, Vector3 p1, float radius, ref CollInfo collPrim)
{
if (disabled)
{
return(false);
}
//p1 = p0;
//p1.Y -= 1.0f;
/// Check against bounding sphere.
/// Check degenerate case where we are already in contact
if (CheckTouching(p0, radius, ref collPrim))
{
return(true);
}
/// Move the problem to the space in which the expanded ellipse is a unit sphere
/// centered at the origin.
///
/// Expand our radii by radius
float localRadius = WorldToLocalRadius(radius);
Matrix ellipseToSphere = Matrix.CreateScale(
1.0f / (Radii.X + localRadius),
1.0f / (Radii.X + localRadius),
1.0f / (Radii.Z + localRadius));
Matrix worldToSphere = WorldToLocal * ellipseToSphere;
/// Convert ray test to expanded ellipsoid space
Vector3 p0sph = Vector3.Transform(p0, worldToSphere);
Vector3 p1sph = Vector3.Transform(p1, worldToSphere);
/// If we have a hit...
float t = 0.0f;
bool hit = RaySphere(Vector3.Zero, 1.0f, p0sph, p1sph, ref t);
if (hit)
{
Matrix sphereToEllipse = Matrix.CreateScale(
Radii.X + localRadius,
Radii.Y + localRadius,
Radii.Z + localRadius);
Matrix sphereToWorld = sphereToEllipse * LocalToWorld;
Vector3 hitWorld = p0 + t * (p1 - p0);
/// Get the hit point and normal in sphere space
Vector3 hitsph = Vector3.Transform(hitWorld, worldToSphere);
Matrix normSphereToLocal = Matrix.CreateScale(
ellipseToSphere.M11 * ellipseToSphere.M11,
ellipseToSphere.M22 * ellipseToSphere.M22,
ellipseToSphere.M33 * ellipseToSphere.M33);
Vector3 localNormal = Vector3.TransformNormal(hitsph, normSphereToLocal);
/// Transform the hit point and normal back to world space
Vector3 normWorld = Vector3.TransformNormal(localNormal, LocalToWorld);
normWorld.Normalize();
/// Move the hit point into the ellipse by the normalized hit normal
/// times the radius.
SetCollPrim(
p0,
hitWorld,
hitWorld - normWorld * radius,
normWorld,
ref collPrim);
return(true);
}
return(false);
}
/// <summary> /// Evaluate collisions with the moving sphere. /// If returns true, there was a collision as described in collPrim, /// else no collision and collPrim untouched. /// </summary> /// <param name="startPos"></param> /// <param name="endPos"></param> /// <param name="radius"></param> /// <param name="collPrim"></param> /// <returns></returns> public abstract bool Collide(Vector3 startPos, Vector3 endPos, float radius, ref CollInfo collPrim);