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// Ripped from Paul Bourke
#include "Include\dRay.h"
#include "dxRay.h"
int dCollidePR(dxGeom* RayGeom, dxGeom* PlaneGeom, int Flags, dContactGeom* Contact, int Stride){
dVector3 Plane;
dGeomPlaneGetParams(PlaneGeom, Plane);
dVector3 Origin, Direction;
dGeomRayGet(RayGeom, Origin, Direction);
dReal Length = dGeomRayGetLength(RayGeom);
dReal Denom = Plane[0] * Direction[0] + Plane[1] * Direction[1] + Plane[2] * Direction[2];
if (dFabs(Denom) < 0.00001f){
return 0; // Ray never hits
}
float T = -(Plane[3] + Plane[0] * Origin[0] + Plane[1] * Origin[1] + Plane[2] * Origin[2]) / Denom;
if (T < 0 || T > Length){
return 0; // Ray hits but not within boundaries
}
Contact->pos[0] = Origin[0] + T * Direction[0];
Contact->pos[1] = Origin[1] + T * Direction[1];
Contact->pos[2] = Origin[2] + T * Direction[2];
Contact->pos[3] = REAL(0.0);
//Contact->normal = 0;
Contact->depth = 0.0f;
Contact->g1 = RayGeom;
Contact->g2 = PlaneGeom;
return 1;
}
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