#ifndef _MOOF_LINE_HH_
#define _MOOF_LINE_HH_
+#include <Moof/Contact.hh>
#include <Moof/Drawable.hh>
+#include <Moof/Log.hh>
#include <Moof/Math.hh>
#include <Moof/OpenGL.hh>
#include <Moof/Ray.hh>
#include <Moof/Shape.hh>
+#include <Moof/Sphere.hh>
#include <Moof/Texture.hh>
a(point1),
b(point2) {}
+
+ Vector getDirection() const
+ {
+ return b - a;
+ }
+
+ Scalar getLength() const
+ {
+ return getDirection().length();
+ }
+
+
+ bool intersect(const Line& other, Contact<D>& hit) const
+ {
+ Scalar d = (other.b[1] - other.a[1]) * (b[0] - a[0]) -
+ (other.b[0] - other.a[0]) * (b[1] - a[1]);
+
+ if (d == SCALAR(0.0)) return false; // lines are parallel
+ // ignoring the (somewhat remote) possibility of coincidence
+
+ Scalar m = ((other.b[0] - other.a[0]) * (a[1] - other.a[1]) -
+ (other.b[1] - other.a[1]) * (a[0] - other.a[0])) / d;
+
+ Scalar n = ((b[0] - a[0]) * (b[1] - other.a[1]) -
+ (b[1] - a[1]) * (b[0] - other.a[0])) / d;
+
+ if (m < SCALAR(0.0) || m > SCALAR(1.0) || // not intersecting
+ n < SCALAR(0.0) || n > SCALAR(1.0)) return false;
+
+ Vector2 tangent = b - a;
+ Vector2 normal = cml::perp(tangent).normalize();
+
+ if (cml::dot(normal, other.a - other.b) < SCALAR(0.0))
+ {
+ normal = -normal;
+ }
+
+ hit.point = a + m * tangent;
+ hit.normal = normal;
+ hit.distance = (other.b - hit.point).length();
+
+ return true;
+ }
+
+ bool intersect(const Sphere<D>& other, Contact<D>& hit) const
+ {
+ Vector surface = b - a;
+ Vector toPoint = other.point - a;
+
+ Scalar surfaceLength = surface.length();
+ surface.normalize();
+
+ Scalar projection = cml::dot(surface, toPoint);
+
+ if (projection < SCALAR(0.0) || projection > surfaceLength)
+ {
+ // try endpoints
+
+ if (other.intersect(a, hit))
+ {
+ hit.normal = -hit.normal;
+ hit.point = a;
+ return true;
+ }
+ else if (other.intersect(b, hit))
+ {
+ hit.normal = -hit.normal;
+ hit.point = b;
+ return true;
+ }
+
+ return false;
+ }
+
+ Vector point = a + surface * projection;
+ Vector normal = other.point - point;
+
+ Scalar distance = normal.length();
+
+ if (distance > other.radius) false; // not intersecting
+
+ normal.normalize();
+
+ hit.distance = other.radius - distance;
+ hit.point = point;
+ hit.normal = normal;
+
+ return true;
+ }
+
+
bool intersectRay(const Ray<2>& ray, Ray<2>::Contact& hit) const
{
+ Vector2 v1 = a - ray.point;
+ Scalar a1 = cml::signed_angle_2D(v1, b - ray.point);
+
+ //logWarning << "angle:::::::::: " << a1 << std::endl;
+
+ if (a1 == Constants::pi())
+ {
+ hit.distance = 5.4321;
+ return true;
+ }
+ else if (a1 == SCALAR(0.0))
+ {
+ hit.distance = 99999.0;
+ return true;
+ }
+
+ Scalar a2 = cml::signed_angle_2D(v1, ray.direction);
+
+ if (a2 < SCALAR(0.0) || a2 > a1) return false;
+
+ //hit.distance = 1.23456;
+ //hit.normal = Vector2(0.0, 0.0);
+
+ Vector2 n = (b - a).normalize();
+ Scalar z = cml::dot(ray.point - a, n);
+ Vector2 p = a + n * z;
+ hit.distance = (ray.point - p).length();
+ hit.normal = cml::perp(a - b);
+ return true;
+
+
+ /*
// solve: Cx + r*Dx = Ax + s(Bx - Ax)
// Cy + r*Dy = Ay + s(By - Ay)
// where: 0 <= s <= 1 if intersection
if (cml::dot(a - ray.point, normal) < 0) hit.normal = normal;
else hit.normal = -normal;
return true;
+ */
}
+
void draw(Scalar alpha = 0.0) const
{
Mf::Texture::resetBind();
typedef Polygon<3,3> Triangle3;
+template <int D>
+bool intersect(const Line<D>& line, const Sphere<D>& sphere,
+ Contact<D>& hit)
+{
+ return false;
+}
+
+
} // namespace Mf
#endif // _MOOF_LINE_HH_