C++ IVP_U_Float_Point::inline_calc_cross_product方法代码示例

bool CTraceSolverSweptObject::SweepHitsSphereOS( IVP_U_Float_Point *sphereCenter, float radius )
{
	// the ray is actually a line-swept-sphere with sweep object's radius
	radius += m_sweepObject->Radius();

    IVP_DOUBLE qrad_sum = m_rayLengthOS * 0.5f + radius;
    qrad_sum *= qrad_sum;
    IVP_U_Float_Point delta_vec; // quick check for ends of ray
    delta_vec.subtract(sphereCenter, &m_rayCenterOS);
    IVP_DOUBLE quad_center_dist = delta_vec.quad_length();
    
	// Could a ray in any direction away from the ray center intersect this sphere?
	if ( quad_center_dist >= qrad_sum )
	{
		return false;
    }

	// Is the sphere close enough to the ray at the center?
    IVP_DOUBLE qsphere_rad = radius * radius;
    if ( quad_center_dist < qsphere_rad )
	{
		return true;
    }
    
	// If this is a 0 length ray, then the conservative test is 100% accurate
	if ( m_rayLengthOS > 0 )
	{
		// Calculate the perpendicular distance to the sphere 
		// The perpendicular forms a right triangle with the vector between the ray/sphere centers
		// and the ray direction vector.  Calculate the projection of the hypoteneuse along the perpendicular
		IVP_U_Float_Point h;
		h.inline_calc_cross_product(&m_rayDirOS, &delta_vec);
    
		IVP_FLOAT quad_dist = (IVP_FLOAT)h.quad_length();
    
		if( quad_dist < qsphere_rad )
			return true;
    }
    return false;
}

void CPhysicsObject::GetVelocityAtPoint( const Vector &worldPosition, Vector &velocity )
{
	IVP_Core *core = m_pObject->get_core();
	IVP_U_Point pos;
	ConvertPositionToIVP( worldPosition, pos );

	IVP_U_Float_Point rotSpeed;
	rotSpeed.add( &core->rot_speed, &core->rot_speed_change );

    IVP_U_Float_Point av_ws;
    core->get_m_world_f_core_PSI()->vmult3( &rotSpeed, &av_ws);

    IVP_U_Float_Point pos_rel; 	
	pos_rel.subtract( &pos, core->get_position_PSI());
    IVP_U_Float_Point cross;    
	cross.inline_calc_cross_product(&av_ws,&pos_rel);

	IVP_U_Float_Point speed;
    speed.add(&core->speed, &cross);
    speed.add(&core->speed_change);

	ConvertPositionToHL( speed, velocity );
}