Function xSweptSphereToModel

src/SB/Core/x/xCollide.cpp:2033–2106

    RpGeometry* geom = model->geometry;
    RpCollisionData* colldata = RpCollisionGeometryGetData(geom);
    RwLine line;

    if (colldata && colldata->tree)
    {
        F32 scale;
        xsqrtfast(scale, SQR(mat->right.x) + SQR(mat->right.y) + SQR(mat->right.z));
        xMat4x3Tolocal((xVec3*)&line.start, (xMat4x3*)mat, &sws->start);
        xMat4x3Tolocal((xVec3*)&line.end, (xMat4x3*)mat, &sws->end);

        SweptSphereCollParam isData;
        isData.geometry = geom;
        isData.sws = sws;

        RwV3d delta;
        RwV3dSubMacro(&delta, &line.end, &line.start);

        RpV3dGradient grad;
        F32 recip;

        recip = (delta.x != 0.0f) ? (1.0f / delta.x) : 0.0f;
        grad.dydx = delta.y * recip;
        grad.dzdx = delta.z * recip;

        recip = (delta.y != 0.0f) ? (1.0f / delta.y) : 0.0f;
        grad.dxdy = delta.x * recip;
        grad.dzdy = delta.z * recip;

        recip = (delta.z != 0.0f) ? (1.0f / delta.z) : 0.0f;
        grad.dxdz = delta.x * recip;
        grad.dydz = delta.y * recip;

        _rpCollBSPTreeForAllCapsuleLeafNodeIntersections(colldata->tree, &line, sws->radius / scale,
                                                         &grad, SweptSphereModelCB, &isData);
    }
    else
    {
        S32 i;
        S32 numT = geom->numTriangles;
        RpTriangle* tri = geom->triangles;
        RwV3d* vert = geom->morphTarget->verts;
        for (i = 0; i < numT; i++, tri++)
        {
            S32 vertIndex0 = tri->vertIndex[0];
            S32 vertIndex1 = tri->vertIndex[1];
            S32 vertIndex2 = tri->vertIndex[2];
            RwV3d* v0 = &vert[vertIndex0];
            RwV3d* v1 = &vert[vertIndex1];
            RwV3d* v2 = &vert[vertIndex2];
            if (xSweptSphereToTriangle(sws, (xVec3*)v0, (xVec3*)v1, (xVec3*)v2))
            {
                sSweptSphereHitFound = 1;
            }
        }
    }

    sws->invbasis.xm = oldinvbasis;

    return sSweptSphereHitFound;