-/*******************************************************************************
-
- 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_SPHERE_HH_
#define _MOOF_SPHERE_HH_
+#include <Moof/Contact.hh>
#include <Moof/Cullable.hh>
#include <Moof/Drawable.hh>
+#include <Moof/Frustum.hh>
#include <Moof/Math.hh>
+#include <Moof/OpenGL.hh>
+#include <Moof/Shape.hh>
+// TODO this needs work
namespace Mf {
* A round object.
*/
-struct Sphere : public Cullable, public Drawable
+
+template <int D = 3>
+struct Sphere : public Cullable, public Drawable, public Shape<D>
{
- Vector3 point;
+ typedef cml::vector< Scalar, cml::fixed<D> > Vector;
+
+ Vector point;
Scalar radius;
+
Sphere() {}
- Sphere(const Vector3& p, Scalar r) :
+ Sphere(const Vector& p, Scalar r) :
point(p),
radius(r) {}
- Sphere(Scalar x, Scalar y, Scalar z, Scalar r) :
- point(x, y, z),
- radius(r) {}
- inline void init(const Vector3& p, Scalar r)
+ void init(const Vector& p, Scalar r)
{
point = p;
radius = r;
}
- void encloseVertices(const Vector3 vertices[], unsigned count);
+ void init(const Vector& p, const Vector& o)
+ {
+ point = p;
+ radius = (o - p).length();
+ }
+
+ //void encloseVertices(const Vector vertices[], unsigned count);
+
+ //void draw(Scalar alpha = 0.0) const;
+ //bool isVisible(const Frustum& frustum) const;
+
+ void encloseVertices(const Vector vertices[], unsigned count)
+ {
+ // TODO
+ }
void draw(Scalar alpha = 0.0) const;
- bool isVisible(const Camera& cam) const;
+
+ bool isVisible(const Frustum& frustum) const
+ {
+ return true;
+ }
+
+
+ bool intersect(const Sphere<D>& sphere, Contact<D>& hit) const
+ {
+ Vector n = sphere.point - point;
+ Scalar distance = n.length();
+ Scalar limit = radius + sphere.radius;
+
+ if (distance > limit) return false;
+
+ hit.normal = n.normalize();
+ hit.distance = limit - distance;
+ hit.point = hit.normal * radius;
+
+ return true;
+ }
+
+ bool intersect(const Vector& point2, Contact<D>& hit) const
+ {
+ Vector n = point2 - point;
+ Scalar distance = n.length();
+
+ if (distance > radius) return false;
+
+ hit.normal = n.normalize();
+ hit.distance = radius - distance;
+ hit.point = point2;
+
+ return true;
+ }
+
+ // a ray inside the sphere will not intersect on its way out
+ bool intersect(const Ray<D>& ray, typename Ray<D>::Contact& hit) const
+ {
+ Vector b = point - ray.point;
+ Scalar z = cml::dot(b, ray.direction);
+
+ // check if the ball is behind the ray
+ if (z < SCALAR(0.0)) return false;
+
+ Scalar d2 = cml::dot(b, b) - z*z;
+ Scalar r2 = radius * radius;
+
+ // check for an intersection
+ if (d2 > r2) return false;
+
+ hit.distance = z - std::sqrt(r2 - d2);
+ if (hit.distance < SCALAR(0.0)) return false;
+
+ Vector surfacePoint;
+ ray.solve(surfacePoint, hit.distance);
+ hit.normal = surfacePoint - point;
+ return true;
+ }
};
+template <>
+inline bool Sphere<3>::isVisible(const Frustum& frustum) const
+{
+ return frustum.contains(*this);
+}
+
+template <>
+inline void Sphere<2>::draw(Scalar alpha) const
+{
+ GLUquadricObj* sphereObj = gluNewQuadric();
+ gluQuadricDrawStyle(sphereObj, GLU_LINE);
+
+ glPushMatrix();
+
+ glTranslate(promote(point));
+ gluSphere(sphereObj, GLdouble(radius), 16, 16);
+
+ glPopMatrix();
+
+ gluDeleteQuadric(sphereObj);
+}
+
+template <>
+inline void Sphere<3>::draw(Scalar alpha) const
+{
+ GLUquadricObj* sphereObj = gluNewQuadric();
+ gluQuadricDrawStyle(sphereObj, GLU_LINE);
+
+ glPushMatrix();
+
+ glTranslate(point);
+ gluSphere(sphereObj, GLdouble(radius), 16, 16);
+
+ glPopMatrix();
+
+ gluDeleteQuadric(sphereObj);
+}
+
+template <int D>
+inline bool checkCollision(const Sphere<D>& a, const Sphere<D>& b)
+{
+ Scalar d = (a.point - b.point).length();
+ return d < (a.radius + b.radius);
+}
+
+
+typedef Sphere<2> Sphere2;
+typedef Sphere2 Circle;
+typedef Sphere<3> Sphere3;
+
+
} // namespace Mf
#endif // _MOOF_SPHERE_HH_
-/** vim: set ts=4 sw=4 tw=80: *************************************************/
-
projects / chaz / yoink / blobdiff