Simple Collision Detection

CS3241 Lab 10

Objectives

Implement

Plane to Sphere collision detection

Sphere to Sphere collision detection

Collision Response

Sphere to Sphere Collision Detection

If sphere1 & sphere2

collide

n = c2 – c1

|n| <= r1 + r2

depth = |n| - (r1+r2)

normal = n / |n|

c1

c2

nr2

r

1

Plane to Sphere Collision

Detection

Forming a plane

Compute normal by 3

vertices, p1, p2, p3

normal = (p2-p1) x (p3-p1)

If plane and sphere

d = c1 * plane’s normal

d <= p + r

normal = plane’s normal

depth = p + r - d

c1

p

d

Collision Response

c1

norma

l

Ori. velocity

Simulate response

From Physics, we know….

As original Velocity can be de-

composited to two part V1, V2

V2 will remain the same but V1 will

flip

Vnew = Vold – 2* (Vold *

Normal)*Normal

How about stickiness?V1 V2

Tasks Task 1 Plane to Sphere collision detection Fill in bool checkCollide(BoundSphere *n1, BoundPlane*n2, float

dt, ContactInfo *ci)

Some notes:

BoundSphere & BoundPlane are just simple structure holding normal, radius…

Please look into ContactInfo as returning these info will help you adding collision response

Task 2 Collision Response Fill in void checkCollision()

Some notes:

Work on sphere to plane collision response

But other responses are similar

Thanks Hope you enjoy this lab and find it useful for your

assignment 4