X-Git-Url: https://git.dogcows.com/gitweb?p=chaz%2Fyoink;a=blobdiff_plain;f=src%2FMoof%2FLine.hh;h=679e564fb378964c46c328d2a136c4ac54df917b;hp=7902ea90d969e2a6c7170f9f970c25f215613eb1;hb=2f239b9ba2a556a5ca810cfffc60552a56a4fe86;hpb=837bae9f2bf7b25e1d3d2625eeaf39c1d2f48827

diff --git a/src/Moof/Line.hh b/src/Moof/Line.hh
index 7902ea9..679e564 100644
--- 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) {}
 
-	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
@@ -79,14 +205,18 @@ struct Line : public Drawable, public Shape<D>
 		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();
@@ -98,15 +228,49 @@ struct Line : public Drawable, public Shape<D>
 };
 
 
+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_