destroyed global classes; view hierarchy instead

[chaz/yoink] / src / Moof / Line.hh

diff --git a/src/Moof/Line.hh b/src/Moof/Line.hh
index f8a2b66111f34a6de84a480fe461cd118064b77e..679e564fb378964c46c328d2a136c4ac54df917b 100644 (file)
--- a/src/Moof/Line.hh
+++ b/src/Moof/Line.hh
@@ -12,11 +12,14 @@
 #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>
 
 
@@ -38,8 +41,131 @@ struct Line : public Drawable, public Shape<D>
                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
@@ -87,8 +213,10 @@ struct Line : public Drawable, public Shape<D>
                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();
@@ -135,6 +263,14 @@ 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_