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collision: capsule capsule collision

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This commit is contained in:
Zack Buhman 2026-03-13 23:16:04 -05:00
parent e38d9338d9
commit 157f493167
2 changed files with 51 additions and 2 deletions
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31
include/collision.h
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@ -17,6 +17,12 @@ namespace collision {
float radius;
};
struct Capsule {
XMVECTOR a;
XMVECTOR b;
float radius;
};
static inline AABB cube_aabb(XMVECTOR const & center, float half)
{
half = fabsf(half);
@ -143,6 +149,31 @@ namespace collision {
c2 = a2 + d2 * t2;
}
static inline bool intersect_capsule_capsule(Capsule const & capsule1, Capsule const & capsule2,
XMVECTOR & p1, XMVECTOR & p2)
{
float t1;
float t2;
XMVECTOR c1; // closest point in capsule1
XMVECTOR c2; // closest point in capsule2
closest_point_segment_segment(capsule1.a, capsule1.b,
capsule2.a, capsule2.b,
t1, t2,
c1, c2);
float distance2 = XMVectorGetX(XMVector3Dot(c1 - c2, c1 - c2));
float radius = capsule1.radius + capsule2.radius;
if (distance2 >= radius * radius)
return false;
float length = XMVectorGetX(XMVector3Length(c1 - c2));
XMVECTOR normal = XMVector3NormalizeEst(c2 - c1);
printf("length2 %f\n", capsule1.radius - length);
p1 = c1 + normal * capsule1.radius;
p2 = c2 + normal;
return true;
}
static inline bool intersect_moving_sphere_aabb(Sphere const & sphere, XMVECTOR const & direction, AABB const & aabb, float & t)
{
AABB expand(expand.min - XMVectorReplicate(sphere.radius),

22
src/collision_scene.cpp
View File

@ -294,11 +294,29 @@ namespace collision_scene {
collision::closest_point_segment_segment(point_position[0], point_position[1],
point_position[2], point_position[3],
t1, t2, c1, c2);
glUniform3f(location.uniform.base_color, 1.0, 0.0, 0.0);
glUniform3f(location.uniform.base_color, 0.0, 0.5, 1.0);
draw_sphere(transform, c1, point_radius);
glUniform3f(location.uniform.base_color, 1.0, 0.5, 0.0);
glUniform3f(location.uniform.base_color, 0.0, 1.0, 0.5);
draw_sphere(transform, c2, point_radius);
collision::Capsule capsule1(point_position[0], point_position[1], 0.5);
collision::Capsule capsule2(point_position[2], point_position[3], 0.0);
glUniform3f(location.uniform.base_color, 0, 0.5, 1.0);
draw_capsule(transform, capsule1.a, capsule1.b, capsule1.radius);
glUniform3f(location.uniform.base_color, 0, 1.0, 0.5);
//draw_capsule(transform, capsule2.a, capsule2.b, capsule2.radius);
XMVECTOR c1_point;
XMVECTOR c2_point;
bool collided = collision::intersect_capsule_capsule(capsule1, capsule2, c1_point, c2_point);
if (collided) {
glUniform3f(location.uniform.base_color, 1.0, 0.0, 0.0);
draw_sphere(transform, c1_point, point_radius);
glUniform3f(location.uniform.base_color, 1.0, 0.5, 0.0);
draw_sphere(transform, c2_point, point_radius);
}
// cube
/*
float cube_half = 0.5;