// Find the closest point on the walkplane to the given point
Math::Vector3d Sector::getClosestPoint(const Math::Vector3d &point) const {
// First try to project to the plane
Math::Vector3d p2 = getProjectionToPlane(point);
if (isPointInSector(p2))
return p2;
// Now try to project to some edge
for (int i = 0; i < _numVertices; i++) {
Math::Vector3d edge = _vertices[i + 1] - _vertices[i];
Math::Vector3d delta = point - _vertices[i];
float scalar = Math::Vector3d::dotProduct(delta, edge) / Math::Vector3d::dotProduct(edge, edge);
Math::Vector3d cross = Math::Vector3d::crossProduct(delta, edge);
if (scalar >= 0 && scalar <= 1 && cross.dotProduct(_normal) > 0)
// That last test is just whether the z-component
// of delta cross edge is positive; we don't
// want to return opposite edges.
return _vertices[i] + scalar * edge;
}
// Otherwise, just find the closest vertex
float minDist = (point - _vertices[0]).getMagnitude();
int index = 0;
for (int i = 1; i < _numVertices; i++) {
float currDist = (point - _vertices[i]).getMagnitude();
if (currDist < minDist) {
minDist = currDist;
index = i;
}
}
return _vertices[index];
}
void Sector::getExitInfo(const Math::Vector3d &s, const Math::Vector3d &dirVec, struct ExitInfo *result) const {
Math::Vector3d start = getProjectionToPlane(s);
Math::Vector3d dir = getProjectionToPuckVector(dirVec);
// First find the edge the ray exits through: this is where
// the z-component of (v_i - start) x dir changes sign from
// positive to negative.
// First find a vertex such that the cross product has
// positive z-component.
int i;
for (i = 0; i < _numVertices; i++) {
Math::Vector3d delta = _vertices[i] - start;
Math::Vector3d cross = Math::Vector3d::crossProduct(delta, dir);
if (cross.dotProduct(_normal) > 0)
break;
}
// Now continue until the cross product has negative
// z-component.
while (i < _numVertices) {
i++;
Math::Vector3d delta = _vertices[i] - start;
Math::Vector3d cross = Math::Vector3d::crossProduct(delta, dir);
if (cross.dotProduct(_normal) <= 0)
break;
}
result->edgeDir = _vertices[i] - _vertices[i - 1];
result->angleWithEdge = Math::Vector3d::angle(dir, result->edgeDir);
result->edgeVertex = i - 1;
Math::Vector3d edgeNormal = Math::Vector3d::crossProduct(result->edgeDir, _normal);
float d = Math::Vector3d::dotProduct(dir, edgeNormal);
// This is 0 for the albinizod monster in the at set
if (!d)
d = 1.f;
result->exitPoint = start + (Math::Vector3d::dotProduct(_vertices[i] - start, edgeNormal) / d) * dir;
}
bool Sector::isPointInSector(const Math::Vector3d &point) const {
// Calculate the distance of the point from the plane of the sector.
// Return false if it isn't within a margin.
if (_height < 9000.f) { // No need to check when height is 9999.
float dist = distanceToPoint(point);
if (fabsf(dist) > _height + 0.01) // Add an error margin
return false;
}
// On the plane, so check if it is inside the polygon.
for (int i = 0; i < _numVertices; i++) {
Math::Vector3d edge = _vertices[i + 1] - _vertices[i];
Math::Vector3d delta = point - _vertices[i];
Math::Vector3d cross = Math::Vector3d::crossProduct(edge, delta);
if (cross.dotProduct(_normal) < -0.000001f) // not "< 0.f" here, since the value could be something like -7.45058e-09 and it
return false; // shuoldn't return. that was causing issue #610 (infinite loop in de.forklift_actor.dismount)
}
return true;
}
