X-Git-Url: https://git.dogcows.com/gitweb?p=chaz%2Fyoink;a=blobdiff_plain;f=src%2FMoof%2FLine.hh;h=679e564fb378964c46c328d2a136c4ac54df917b;hp=4a54e2d5f008c5bcd62c21340b552ffeb0eb809a;hb=2f239b9ba2a556a5ca810cfffc60552a56a4fe86;hpb=2d77fb5fb3480f522658f30af6addd5146530517 diff --git a/src/Moof/Line.hh b/src/Moof/Line.hh index 4a54e2d..679e564 100644 --- a/src/Moof/Line.hh +++ b/src/Moof/Line.hh @@ -1,42 +1,27 @@ -/******************************************************************************* - - 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 #include +#include #include #include #include +#include +#include #include -#include - namespace Mf { @@ -49,8 +34,138 @@ struct Line : public Drawable, public Shape Vector a; Vector b; - Scalar intersectRay(const Ray<2>& ray, Ray<2>::Intersection& intersection) + + 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& 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& other, Contact& 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 @@ -63,7 +178,8 @@ struct Line : public Drawable, public Shape ray.direction[1] * (a[0] - b[0]); // check if the ray and line are parallel - if (isEqual(denom, SCALAR(0.0))) + //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]) + @@ -72,37 +188,35 @@ struct Line : public Drawable, public Shape // check if they are collinear if (isEqual(numer, SCALAR(0.0))) { - intersection.point = ray.point; - intersection.normal.set(0.0, 0.0); - return SCALAR(0.0); + hit.distance = SCALAR(0.0); + hit.normal.set(0.0, 0.0); + return true; } - return SCALAR(-1.0); + 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 SCALAR(-1.0); - - Scalar r = -(a[0] * (ray.point[1] - b[1]) + - b[0] * (a[1] - ray.point[1]) + - ray.point[0] * (b[1] - a[1])) / denom; - - // make sure we're dealing with the right side of the ray - if (r < SCALAR(0.0)) return SCALAR(-1.0); + if (s < SCALAR(0.0) || s > SCALAR(1.0)) return false; - intersection.point = ray.point + r * ray.direction; + hit.distance = -(a[0] * (ray.point[1] - b[1]) + + b[0] * (a[1] - ray.point[1]) + + ray.point[0] * (b[1] - a[1])) / denom; - // gotta use the correct normal - Vector n = cml::perp(a - b); - if (cml::dot(a - ray.point, n) < 0) intersection.normal = n; - else intersection.normal = -n; + // check if the intersection is behind the ray + if (hit.distance < SCALAR(0.0)) return false; - return r; + 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(); @@ -114,18 +228,50 @@ struct Line : public Drawable, public Shape }; +typedef Line<2> Line2; +typedef Line<3> Line3; + + template -struct Polygon : public Shape +struct Polygon : public Drawable, public Shape { typedef cml::vector< Scalar, cml::fixed > Vector; Vector points[N]; + + Polygon() {} + + bool intersectRay(const Ray& ray, typename Ray::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 +bool intersect(const Line& line, const Sphere& sphere, + Contact& hit) +{ + return false; +} + + } // namespace Mf #endif // _MOOF_LINE_HH_ -/** vim: set ts=4 sw=4 tw=80: *************************************************/ -