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geometry: SHAPE_RECT: use SquaredDistance() for collision detection

This commit is contained in:
Tomasz Wlostowski 2020-10-07 15:16:18 +02:00
parent d6fa81036b
commit 8fb154e04e
1 changed files with 27 additions and 12 deletions
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39
libs/kimath/src/geometry/shape_rect.cpp
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@ -25,7 +25,6 @@
#include <geometry/shape_rect.h> #include <geometry/shape_rect.h>
bool SHAPE_RECT::Collide( const SEG& aSeg, int aClearance, int* aActual, bool SHAPE_RECT::Collide( const SEG& aSeg, int aClearance, int* aActual,
VECTOR2I* aLocation ) const VECTOR2I* aLocation ) const
{ {
@ -62,31 +61,47 @@ bool SHAPE_RECT::Collide( const SEG& aSeg, int aClearance, int* aActual,
for( int i = 0; i < 4; i++ ) for( int i = 0; i < 4; i++ )
{ {
SEG side = SEG( corners[i], corners[ i + 1] ); SEG side( corners[i], corners[ i + 1] );
VECTOR2I pnA = side.NearestPoint( aSeg ); SEG::ecoord dist_sq = side.SquaredDistance( aSeg );
VECTOR2I pnB = aSeg.NearestPoint( side );
SEG::ecoord dist_sq = ( pnA - pnB ).SquaredEuclideanNorm();
if( dist_sq < closest_dist_sq ) if( dist_sq < closest_dist_sq )
{ {
nearest = pnA; if ( aLocation )
closest_dist_sq = dist_sq; {
nearest = side.NearestPoint( aSeg );
}
if( closest_dist_sq == 0 || !aActual ) closest_dist_sq = dist_sq;
break;
} }
} }
if( closest_dist_sq == 0 || closest_dist_sq < SEG::Square( aClearance ) ) if( closest_dist_sq == 0 || closest_dist_sq < SEG::Square( aClearance ) )
{ {
if( aLocation )
*aLocation = nearest;
if( aActual ) if( aActual )
*aActual = sqrt( closest_dist_sq ); *aActual = sqrt( closest_dist_sq );
if( aLocation )
*aLocation = nearest;
return true; return true;
} }
return false; return false;
} }
const std::string SHAPE_RECT::Format( ) const
{
std::stringstream ss;
ss << "SHAPE_RECT( ";
ss << m_p0.x;
ss << ", ";
ss << m_p0.y;
ss << ", ";
ss << m_w;
ss << ", ";
ss << m_h;
ss << ");";
return ss.str();
}