+++ /dev/null
-
-/*] Copyright (c) 2009-2010, Charles McGarvey [**************************
-**] All rights reserved.
-*
-* vi:ts=4 sw=4 tw=75
-*
-* Distributable under the terms and conditions of the 2-clause BSD license;
-* see the file COPYING for a complete text of the license.
-*
-**************************************************************************/
-
-#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>
-
-
-namespace Mf {
-
-
-template <int D>
-struct Line : public Drawable, public Shape<D>
-{
- typedef cml::vector< Scalar, cml::fixed<D> > Vector;
-
- Vector a;
- Vector b;
-
-
- Line() {}
-
- Line(const Vector& point1, const Vector& point2) :
- 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
- // given: A = a
- // B = b
- // C = ray.point
- // D = ray.direction
-
- Scalar denom = ray.direction[0] * (b[1] - a[1]) +
- ray.direction[1] * (a[0] - b[0]);
-
- // check if the ray and line are parallel
- //if (isEqual(denom, SCALAR(0.0)))
- if (denom == SCALAR(0.0))
- {
- Scalar numer = a[0] * (ray.point[1] - b[1]) +
- b[0] * (a[1] - ray.point[1]) +
- ray.point[0] * (b[1] - a[1]);
-
- // check if they are collinear
- if (isEqual(numer, SCALAR(0.0)))
- {
- hit.distance = SCALAR(0.0);
- hit.normal.set(0.0, 0.0);
- return true;
- }
-
- return false;
- }
-
- Scalar s = (ray.direction[0] * (ray.point[1] - a[1]) +
- ray.direction[1] * (a[0] - ray.point[0])) / denom;
-
- // check if the ray hits the segment
- if (s < SCALAR(0.0) || s > SCALAR(1.0)) return false;
-
- hit.distance = -(a[0] * (ray.point[1] - b[1]) +
- b[0] * (a[1] - ray.point[1]) +
- ray.point[0] * (b[1] - a[1])) / denom;
-
- // check if the intersection is behind the ray
- if (hit.distance < SCALAR(0.0)) return false;
-
- Vector normal = cml::perp(a - b);
- 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();
- glBegin(GL_LINES);
- glVertex(a);
- glVertex(b);
- glEnd();
- }
-};
-
-
-typedef Line<2> Line2;
-typedef Line<3> Line3;
-
-
-template <int D, int N>
-struct Polygon : public Drawable, public Shape<D>
-{
- typedef cml::vector< Scalar, cml::fixed<D> > Vector;
-
- Vector points[N];
-
- Polygon() {}
-
- bool intersectRay(const Ray<D>& ray, typename Ray<D>::Contact& hit)
- {
- return false;
- }
-
- void draw(Scalar alpha = 0.0) const
- {
- Mf::Texture::resetBind();
- glBegin(GL_POLYGON);
- for (int i = 0; i < D; ++i)
- {
- glVertex(points[0]);
- }
- glEnd();
- }
-};
-
-
-typedef Polygon<2,3> Triangle2;
-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_
-
projects / chaz / yoink / blobdiff