-/*******************************************************************************
-
- Copyright (c) 2009, Charles McGarvey
- All rights reserved.
-
- Redistribution and use in source and binary forms, with or without
- modification, are permitted provided that the following conditions are met:
-
- * Redistributions of source code must retain the above copyright notice,
- this list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright notice,
- this list of conditions and the following disclaimer in the documentation
- and/or other materials provided with the distribution.
-
- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
-*******************************************************************************/
+/*] 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>
-#include <Moof/Log.hh>
-
namespace Mf {
a(point1),
b(point2) {}
- bool intersectRay(const Ray<2>& ray, Ray<2>::Intersection& hit) const
+
+ 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
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();
};
+typedef Line<2> Line2;
+typedef Line<3> Line3;
+
+
template <int D, int N>
-struct Polygon : public Shape<D>
+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_
-/** vim: set ts=4 sw=4 tw=80: *************************************************/
-
projects / chaz / yoink / blobdiff