该模块主要是实现了各种形状之间是否发生了碰撞检测计算。
Collider.h
#pragma once class Collider { private: static int num; public: /2D碰撞 static bool Intersects(GLLine &line_a, GLLine &line_b, Vector2 &hitPoint/*(Out_HIT_Point)*/);//线段和线段 static bool Intersects(Vector2 &point, GLLine lines[], int linesNums);//点在多边形中(用射线) static bool Intersects(Vector2 &point, GLPolygon &poly);//点在多边形中(用叉乘法) static bool Intersects(GLCircle &circle_a, GLCircle &circle_b);//圆与圆 static bool Intersects(GLLine &line_a, GLCircle &circle,Vector2 &hitPoint);//线与圆 static bool Intersects(GLLine line_a[], GLCircle &circle, int linesNum);//线与圆 static bool Intersects(GLRay &ray_a, GLCircle &circle,/*_Out_*/ Vector2 &hitPoint);//射线与圆 static bool Intersects(GLRay &ray_a, GLAABB &aabb,/*_Out_*/ Vector2 &hitPoint);//射线与AABB static bool Intersects(GLAABB &aabb_a, GLAABB &aabb_b);//AABB与AABB static bool Intersects(Vector2 point,RECT rect); static bool Intersects(GLPolygon &poly_a, GLPolygon &poly_b);//多边形与多边形 /3D碰撞 static bool Intersects(GLSphere sphere,GLPlane *plane,int PlansNum); //球和多面体 static bool Intersects(GLPoint &point, GLAABB3D &Aabb); //点在Aabb内 static bool Intersects(GLPoint &point, GLPlane *plane, int PlansNum); //点和面 static bool Intersects(GLRay3D &ray,GLAABB3D &aabb,Vector3D &vcHit); //射线和AABB3D static bool Intersects(GLRay3D &ray, GLLine3D &line, Vector3D &HitPoint); static bool Intersects(GLRay3D &ray, GLTrianglePlane &trianglePlane,Vector3D &HitPoint);//射线和三角面 static bool Intersects(Vector3D &RayOrig, Vector3D &RayDir, Vector3D &v0, Vector3D v1, Vector3D v2,Vector3D &HitPoint); static bool Intersects(GLAABB3D &AABB_1, GLAABB3D &AABB_2); //两个立方体 static bool Intersects(GLSphere &sphere_a, GLTrianglePlane &triplane_a); //球和三角面 static bool Intersects(GLSphere &sphere_a, Vector3D &line_a, Vector3D &line_b); //球和线段 static bool Intersects(GLSphere &sphere_a, GLSphere & sphere_b); //球和球 static bool Intersects(GLSphere & sphere, GLPlane &plane); //球和面 static bool Intersects(GLLine3D &line_a, GLAABB3D &aabb, Vector3D &hitPoint); 线段与Aabb static bool Intersects(GLLine3D &line, GLTrianglePlane &triangle, Vector3D &hitPoint);//线段和三角面 Collider(); ~Collider(); };
Collider.cpp
#include "Engine.h" int Collider::num =0; Collider::Collider() { } bool Collider::Intersects(GLLine &line_a, GLLine &line_b, Vector2 &hitPoint) { float x, y; // 这是质点的位置变量 float vx, vy; // 质点的速度向量分量 float s, t; // 线段方程的两个参数 float x_v1, x_v2, y_v1, y_v2; // 各个参量 float x_v1b, x_v2b, y_v1b, y_v2b; x_v1 = line_a.m_vcDir.x*line_a.m_len; //向量的长度a y_v1 = line_a.m_vcDir.y*line_a.m_len; x_v2 = line_b.m_vcDir.x*line_b.m_len; //向量的长度b y_v2 = line_b.m_vcDir.y*line_b.m_len; x_v1b = line_a.m_vcOrig.x; y_v1b = line_a.m_vcOrig.y; x_v2b = line_b.m_vcOrig.x; y_v2b = line_b.m_vcOrig.y; float d = (x_v1*(-y_v2)) - ((-x_v2)*y_v1);// 计算d,d1和d2 float d1 = ((x_v2b - x_v1b)*(-y_v2)) - ((-x_v2)*(y_v2b - y_v1b)); float d2 = (x_v1*(y_v2b - y_v1b)) - ((x_v2b - x_v1b)*y_v1); if (abs(d) < 0.001f) // 如果等于零做近似处理,abs()用于求绝对值 {d = 0.001f;} s = d1 / d; //计算参量s,t t = d2 / d; if (0.0f <= s && 1.0f >= s && 0.0f <= t && 1.0f >= t) //判断是否发生碰撞 { hitPoint = line_a.m_vcOrig+line_a.m_vcDir*(line_a.m_len*s); return true; } else return false; } bool Collider::Intersects(Vector2 &point, GLLine lines[], int linesNums) { static Vector2 hit; GLLine line; static float x=point.x; static float y=point.y; x += 1000; Vector2 yanC(x, y); line.Set(point, yanC); //Gizmo::drawLine(line, sColor(1, 1, 1, 1)); for (int i = 0;i < linesNums;i++) { if (Intersects(line, lines[i], hit)) { ++num; } } if (num <= 0) {num = 0;return false;} else if (num == 1) {num = 0;return true;} else if (num >= 2) {num = 0;return false;} return false; } bool Collider::Intersects(Vector2 &point, GLPolygon &poly) { return Intersects(point, poly.m_line, poly.m_lineNum); } bool Collider::Intersects(Vector2 point,RECT rect) { if (point.x > rect.left&&point.y > rect.top&& point.x < rect.right&&point.y < rect.bottom) { return true; } return false; } bool Collider::Intersects(GLCircle &circle_a, GLCircle &circle_b) { float distance = (circle_a.center - circle_b.center).length(); // 如果两圆的圆心距小于或等于两圆半径和则认为发生碰撞 if (distance <= circle_a.radius+circle_b.radius) { return true; } return false; } bool Collider::Intersects(GLLine &line_a, GLCircle &circle, Vector2 &hitPoint) { Vector2 d = line_a.m_vcOrig - circle.center; if (d.length2q() <= circle.radius*circle.radius) {return false;} float b = line_a.m_vcDir.dot(d); float c = d.dot(d) - circle.radius*circle.radius; float dt = b*b - c; if (dt < 0) {return false;} //有一个或两个交点 float t1 = -b + sqrt(dt); float t2 = -b - sqrt(dt); if (t1 >= 0 && t2 >= 0) { float f = fmin(t1, t2); if (f > 0.0f && f <= line_a.m_len) { hitPoint = line_a.m_vcOrig + (line_a.m_vcDir * f); return true; } } return false; } bool Collider::Intersects(GLLine line_a[], GLCircle &circle, int linesNum) { for (int i = 0;i < linesNum;i++) { Vector2 d = line_a[i].m_vcOrig - circle.center; if (d.length2q() <= circle.radius*circle.radius) { return false; } float b = line_a[i].m_vcDir.dot(d); float c = d.dot(d) - circle.radius*circle.radius; float dt = b*b - c; if (dt < 0) { return false; } //有一个或两个交点 float t1 = -b + sqrt(dt); float t2 = -b - sqrt(dt); if (t1 >= 0 && t2 >= 0) { float f = fmin(t1, t2); if (f > 0.0f && f <= line_a[i].m_len) { //hitPoint = line_a[i].m_vcOrig + (line_a[i].m_vcDir * f); return true; } } } return false; } bool Collider::Intersects(GLRay &ray_a, GLCircle &circle,/*_Out_*/ Vector2 &hitPoint) { Vector2 d = ray_a.m_vcOrig - circle.center; if (d.length2q() <= circle.radius*circle.radius) { return false; } float b = ray_a.m_vcDir.dot(d); float c = d.dot(d) - circle.radius*circle.radius; float dt = b*b - c; if (dt < 0) { return false; } //有一个或两个交点 //用二元一次方程的求根公式 ax^2+bx+c=0 (a不等于0） float t1 = -b + sqrt(dt);//x1=-b+sqrt（b^2-4ac)]/2ab float t2 = -b - sqrt(dt);//x2=-b-sqrt（b^2-4ac)/ 2ab if (t2 > 0.0f)//方程的根>0才有意义 { hitPoint = ray_a.m_vcOrig + ray_a.m_vcDir*t2; return true; } if (t1 > 0.0f) { hitPoint = ray_a.m_vcOrig + ray_a.m_vcDir*t1; return true; } return false; } bool Collider::Intersects(GLRay &ray_a, GLAABB &aabb,/*_Out_*/ Vector2 &hitPoint) { float tmin = 0.0f; float tmax = FLT_MAX; //平面垂直于X轴 if (abs(ray_a.m_vcDir.x) < 0.000001f) //如果射线平行于平面的 { //如果射线不在AABB框内,说明不相交 if (ray_a.m_vcOrig.x < aabb.m_vcMin.x || ray_a.m_vcOrig.x > aabb.m_vcMax.x) { return false; } } else { //计算射线的最近和最远距离 float ood =1.0 / ray_a.m_vcDir.x; float t1 = (aabb.m_vcMin.x - ray_a.m_vcOrig.x) * ood; float t2 = (aabb.m_vcMax.x - ray_a.m_vcOrig.x) * ood; //交换最近和最远的平面，保证最近的是t1 if (t1 > t2) { float temp = t1; t1 = t2; t2 = temp; } //计算交点的交叉的长度 if (t1 > tmin) tmin = t1; if (t2 < tmax) tmax = t2; //没有碰撞就退出 if (tmin > tmax) { return false; } }// 平面垂直于X轴结束 //平面垂直于Y轴 if (abs(ray_a.m_vcDir.y) < 0.000001f) //如果射线平行于平面的 { //如果射线不在AABB框内,说明不相交 if (ray_a.m_vcOrig.y <aabb.m_vcMin.y || ray_a.m_vcOrig.y> aabb.m_vcMax.y) { return false; } } else { //计算射线的最近和最远距离 float ood =1.0 / ray_a.m_vcDir.y; float t1 = (aabb.m_vcMin.y - ray_a.m_vcOrig.y) * ood;//AABB最小点减去向量的原点 float t2 = (aabb.m_vcMax.y - ray_a.m_vcOrig.y) * ood;//AABB最大点减去向量的原点 //如果算出的t1值大于t2值就交换它们，保证t1里面是最小的，t2里面是最大 if (t1 > t2) { float temp = t1; t1 = t2; t2 = temp; } //计算交点的交叉的长度s if (t1 > tmin) tmin = t1; if (t2 < tmax) tmax = t2; //没有找到交叉碰撞就退出 if (tmin > tmax) { return false; } } hitPoint.x =ray_a.m_vcOrig.x + tmin * ray_a.m_vcDir.x; hitPoint.y = ray_a.m_vcOrig.y+ tmin * ray_a.m_vcDir.x; return true; 伟哥算法1 //GLLine line(ray_a.m_vcOrig, ray_a.m_vcDir, 999999); //GLLine ab[4] = { // GLLine(Vector2(aabb.m_vcMax.x,aabb.m_vcMin.y),aabb.m_vcMin), // GLLine(aabb.m_vcMax,Vector2(aabb.m_vcMax.x,aabb.m_vcMin.y)), // GLLine(Vector2(aabb.m_vcMin.x,aabb.m_vcMax.y),aabb.m_vcMax), // GLLine(aabb.m_vcMin,Vector2(aabb.m_vcMin.x,aabb.m_vcMax.y)) }; //for (int i = 0; i < 4; ++i) // if (Collider::Intersects(line, ab[i], hitPoint)) // return true; } bool Collider::Intersects(GLAABB &aabb_a, GLAABB &aabb_b) { if (aabb_a.m_vcMax.x > aabb_b.m_vcMin.x&&aabb_a.m_vcMin.x<aabb_b.m_vcMax.x &&aabb_a.m_vcMax.y>aabb_b.m_vcMin.y&&aabb_a.m_vcMin.y < aabb_b.m_vcMax.y) { return true; } return false; } bool Collider::Intersects(GLPolygon &poly_a, GLPolygon &poly_b) { int lines_num = poly_a.m_lineNum + poly_b.m_lineNum; Vector2 *temp = new Vector2[lines_num]; for (int i = 0; i < poly_a.m_lineNum; i++)//先求出A&B的所有正交向量 { //然后放到数组里 temp[i] = poly_a.m_line[i].m_vcDir.ortho(); } for (int i = 0; i < poly_b.m_lineNum; i++) { temp[poly_a.m_lineNum+ i] = poly_b.m_line[i].m_vcDir.ortho(); } for (int i = 0; i < poly_a.m_lineNum + poly_b.m_lineNum; i++)//AB的线段和 { float min_a = 999999; float max_a = -999999; for (int j = 0; j < poly_a.m_lineNum;j++) { float vec = poly_a.m_line[j].m_vcOrig.dot(temp[i]);//正交好再求点乘。 if (vec < min_a) { min_a = vec; } if (vec > max_a) { max_a = vec; } } float min_b = 999999; float max_b = -999999; for (int j = 0; j < poly_b.m_lineNum; j++) { float vec = poly_b.m_line[j].m_vcOrig.dot(temp[i]); if (vec < min_b) { min_b = vec; } if (vec > max_b) { max_b = vec; } } if (!(min_b <= max_a && max_b >= min_a)) return false; } delete[]temp; return true; } bool Collider::Intersects(GLSphere sphere, GLPlane *plane, int PlansNum) { for (int i = 0; i < PlansNum; ++i) { float f = (float)sphere.m_center.dot(plane[i].m_vcN) + plane[i].m_fD; //面法线朝外的算法，如果是面法线朝内就要反过来，f<=-sphere.m_radius if (f>=sphere.m_radius)//||如果圆心和面法线的向量积+(面到原点的距离),比圆的半径还要小就是没有发生碰撞 return false; } return true; } bool Collider::Intersects(GLPoint &point, GLAABB3D &Aabb) { if (point.m_center.x >Aabb.m_vcMax.x) return false; if (point.m_center.y >Aabb.m_vcMax.y) return false; if (point.m_center.z > Aabb.m_vcMax.z) return false; if (point.m_center.x <Aabb.m_vcMin.x) return false; if (point.m_center.y <Aabb.m_vcMin.y) return false; if (point.m_center.z <Aabb.m_vcMin.z) return false; return true; } bool Collider::Intersects(GLPoint &point, GLPlane *plane, int PlansNum) { for (int i = 0; i < PlansNum; i++) { if (plane[i].m_vcN.x * point.m_center.x + plane[i].m_vcN.y * point.m_center.y + plane[i].m_vcN.z * point.m_center.z + plane[i].m_fD >= 0) { return false; } } return true; } bool Collider::Intersects(GLRay3D &ray, GLAABB3D &aabb, Vector3D &vcHit) { //射线公式：p(t) = p0 + tu //p0为射线起始点向量，t为标量，u为射线方向。 float tmin = 0.0f; float tmax = FLT_MAX; X/// if(abs(ray.m_vcDir.x)<0.000001f)//给一个很小的数字确保不等于0 { if (ray.m_vcDir.x<aabb.m_vcMin.x || ray.m_vcDir.x>aabb.m_vcMax.x) return false; } else { //计算射线从近平面到远平面的距离 float ood = 1.0f / ray.m_vcDir.x; float t1=(aabb.m_vcMin.x-ray.m_vcOrig.x)*ood; float t2=(aabb.m_vcMax.x - ray.m_vcOrig.x)*ood; //让t1变成近平面，让t2变成远平面 if (t1 > t2) { float temp = t1; t1 = t2; t2 = temp; } if (t1 > tmin) tmin = t1; if (t2 < tmax) tmax = t2; if (tmin > tmax) return false; } //Y/ if (abs(ray.m_vcDir.y)<0.000001f)//给一个很小的数字确保不等于0 { if (ray.m_vcDir.y<aabb.m_vcMin.y || ray.m_vcDir.y>aabb.m_vcMax.y) return false; } else { //计算射线从近平面到远平面的距离 float ood = 1.0f / ray.m_vcDir.y; float t1 = (aabb.m_vcMin.y - ray.m_vcOrig.y)*ood; float t2 = (aabb.m_vcMax.y - ray.m_vcOrig.y)*ood; //让t1变成近平面，让t2变成远平面 if (t1 > t2) { float temp = t1; t1 = t2; t2 = temp; } if (t1 > tmin) tmin = t1; if (t2 < tmax) tmax = t2; if (tmin > tmax) return false; } //Z// if (abs(ray.m_vcDir.z)<0.000001f)//给一个很小的数字确保不等于0 { if (ray.m_vcDir.z<aabb.m_vcMin.z || ray.m_vcDir.z>aabb.m_vcMax.z) return false; } else { //计算射线从近平面到远平面的距离 float ood = 1.0f / ray.m_vcDir.z; float t1 = (aabb.m_vcMin.z - ray.m_vcOrig.z)*ood; float t2 = (aabb.m_vcMax.z - ray.m_vcOrig.z)*ood; //让t1变成近平面，让t2变成远平面 if (t1 > t2) { float temp = t1; t1 = t2; t2 = temp; } if (t1 > tmin) tmin = t1; if (t2 < tmax) tmax = t2; if (tmin > tmax) return false; } vcHit.x = ray.m_vcOrig.x + tmin*ray.m_vcDir.x; vcHit.y = ray.m_vcOrig.y + tmin*ray.m_vcDir.y; vcHit.z= ray.m_vcOrig.z + tmin*ray.m_vcDir.z; return true; } bool Collider::Intersects(GLRay3D &ray, GLLine3D &line, Vector3D &HitPoint) { //ray :1 //line :2 if (ray.m_vcDir.cross(line.m_vcDir).length() < 0.0001) return false; float s = ((line.m_vcOrig - ray.m_vcOrig).cross(line.m_vcDir)).dot(ray.m_vcDir.cross(line.m_vcDir)); float t = ((ray.m_vcOrig - line.m_vcOrig).cross(ray.m_vcDir)).dot(line.m_vcDir.cross(ray.m_vcDir)); if (s < 0) return false; if (t < 0) return false; if (t > line.m_len) return false; Vector3D RayHit = Vector3D(ray.m_vcOrig.x + (ray.m_vcDir.x*s), ray.m_vcOrig.y + (ray.m_vcDir.y*s), ray.m_vcOrig.z + (ray.m_vcDir.z*s)); Vector3D LineHit = Vector3D(line.m_vcOrig.x + (line.m_vcDir.x*t), line.m_vcOrig.y + (line.m_vcDir.y*t), line.m_vcOrig.z + (line.m_vcDir.z*t)); if (abs(RayHit.x - LineHit.x) < 10 && abs(RayHit.y - LineHit.y) < 10 && abs(RayHit.z - LineHit.z) < 10) { HitPoint = RayHit; return true; } return false; } bool Collider::Intersects(GLRay3D &ray_a, GLTrianglePlane &triplane_a, Vector3D &hitPoint) { Vector3D edge1 = triplane_a.m_vertex[1] - triplane_a.m_vertex[0]; Vector3D edge2 = triplane_a.m_vertex[2] - triplane_a.m_vertex[0]; Vector3D pvec = ray_a.m_vcDir.cross(edge2); float det = edge1.dot(pvec); if (det < 0.00001 && det > -0.00001) return false; float f_det = 1.0f / det; Vector3D tvec = ray_a.m_vcOrig - triplane_a.m_vertex[0]; float u = tvec.dot(pvec) * f_det; if (u < 0.0f || u > 1) return false; Vector3D qvec = tvec.cross(edge1); float v = ray_a.m_vcDir.dot(qvec) * f_det; if (v < 0.0f || u + v > 1) return false; float f = edge2.dot(qvec) * f_det; if (f >=0.0f) { hitPoint = ray_a.m_vcOrig + (ray_a.m_vcDir * f); return true; } return false; // float t, u, v; // Vector3D E1 = triplane_a.m_v1 - triplane_a.m_v0; // Vector3D E2 = triplane_a.m_v2 - triplane_a.m_v0; // Vector3D P = ray_a.m_vcDir.cross(E2); // float det = E1.dot(P); // Vector3D T; // // if (det>0) // { // T = ray_a.m_vcOrig - triplane_a.m_v0; // } // else // { // T = triplane_a.m_v0 - ray_a.m_vcOrig; // det = -det; // } // // if (det< 0.00001f) // { // return false; // } // // u = T.dot(P); // if (u<0.0f || u>det) // return false; // // Vector3D Q = T.cross(E1); // v = ray_a.m_vcDir.dot(Q); // if (v<0.0f || u + v>det) // return false; // // t = E2.dot(Q); // float fInvDet = 1.0f / det; // (t *= fInvDet); // (u *= fInvDet); // (v *= fInvDet); // hitPoint = ray_a.m_vcOrig + ray_a.m_vcDir*t; // // return true; } bool Collider::Intersects(Vector3D &RayOrig, Vector3D &RayDir, Vector3D &v0, Vector3D v1, Vector3D v2, Vector3D &HitPoint) { float u, v, t; Vector3D E1 =v1 - v0; Vector3D E2 =v2 - v0; Vector3D P = RayDir.cross(E2); float det = E1.dot(P); Vector3D T; if (det>0) { T = RayOrig - v0; } else { T = v0 - RayOrig; det = -det; } if (det< 0.00001f) { return false; } u = T.dot(P); if (u<0.0f || u>det) return false; Vector3D Q = T.cross(E1); v = RayDir.dot(Q); if (v<0.0f || u + v>det) return false; t = E2.dot(Q); float fInvDet = 1.0f /det; HitPoint.x = (t *= fInvDet); HitPoint.y = (u *= fInvDet); HitPoint.z = (v *= fInvDet); return true; } bool Collider::Intersects(GLAABB3D &aabb_a, GLAABB3D &aabb_b) { if (aabb_a.m_vcMax.x > aabb_b.m_vcMin.x&&aabb_a.m_vcMin.x<aabb_b.m_vcMax.x &&aabb_a.m_vcMax.y>aabb_b.m_vcMin.y&&aabb_a.m_vcMin.y < aabb_b.m_vcMax.y&& aabb_a.m_vcMax.z>aabb_b.m_vcMin.z&&aabb_a.m_vcMin.z < aabb_b.m_vcMax.z) { return true; } return false; // if (aabb_a.m_vcMin.x < aabb_b.m_vcMax.x&&aabb_a.m_vcMin.y<aabb_b.m_vcMax.y&& // aabb_a.m_vcMax.x>aabb_b.m_vcMin.x&&aabb_a.m_vcMax.y > aabb_b.m_vcMin.y // && aabb_a.m_vcMin.z < aabb_b.m_vcMax.z&&aabb_a.m_vcMax.z>aabb_b.m_vcMin.z) // { // return true; // } // return false; } bool Collider::Intersects(GLSphere & sphere_a, GLSphere & sphere_b) { if ((sphere_a.m_center - sphere_b.m_center).length() < sphere_a.m_radius + sphere_b.m_radius) { return true; } return false; } bool Collider::Intersects(GLSphere &sphere_a, GLTrianglePlane & triplane_a) { float f = sphere_a.m_center.dot(triplane_a.m_vcN) + triplane_a.m_fD; if (f < 0) { return false; } if (f > sphere_a.m_radius) { return false; } //测试三角形的点在球内 for (int i = 0; i < 3; i++) { if (sphere_a.IsPointIn(triplane_a.m_vertex[i])) { return true; } } //测试三角形的三条边与球相交 for (int i = 0; i < 3; i++) { if (sphere_a.Intersects(triplane_a.m_vertex[i % 3], triplane_a.m_vertex[(i + 1) % 3])) return true; } //测试三角形包含球 float t = (triplane_a.m_vcN.dot(sphere_a.m_center) + triplane_a.m_fD) / (triplane_a.m_vcN.length2q()); Vector3D p = sphere_a.m_center + triplane_a.m_vcN*t; if (triplane_a.IsPointIn(p)) { return true; } return false; } bool Collider::Intersects(GLSphere & sphere_a, Vector3D & line_a, Vector3D &line_b) { Vector3D d1 = sphere_a.m_center - line_a; if (d1.length2q() <= sphere_a.m_radius*sphere_a.m_radius) return true; Vector3D b_dir = (line_b - line_a).Normalize(); float s = d1.dot(b_dir); if (s < 0) return false; Vector3D d2 = sphere_a.m_center - line_b; if (d2.length2q() <= sphere_a.m_radius*sphere_a.m_radius) return true; float m = d1.length2q() - s*s; if (m <= sphere_a.m_radius*sphere_a.m_radius) return true; return false; } bool Collider::Intersects(GLSphere & sphere, GLPlane &plane) { float len = sphere.m_center.dot(plane.m_vcN) + plane.m_fD; if (len >= 0 && len <= sphere.m_radius) { return true; } return false; } bool Collider::Intersects(GLLine3D & line_a, GLAABB3D & aabb, Vector3D & hitPoint) { GLRay3D ray; ray.Set(line_a.m_vcOrig, line_a.m_vcDir); bool key = Intersects(ray, aabb, hitPoint); if (key == false) { return false; } else { if ((line_a.m_vcOrig - hitPoint).length2q() > line_a.m_len*line_a.m_len) { return true; } else { return false; } } } bool Collider::Intersects(GLLine3D & line, GLTrianglePlane & triangle, Vector3D & hitPoint) { GLRay3D ray; ray.Set(line.m_vcOrig, line.m_vcDir); bool key = Intersects(ray, triangle, hitPoint); if (key == false) { return false; } else { if ((line.m_vcOrig - hitPoint).length2q() <= line.m_len*line.m_len) { return true; } else { return false; } } } Collider::~Collider() { }
