const collision line_line(const line &a, const line &b)
{
collision r;
auto m1 = (a.position.y - a.end.y) / (a.position.x - a.end.x);
auto m2 = (b.position.y - b.end.y) / (b.position.x - b.end.x);
auto b1 = a.position.y - m1*a.position.x;
auto b2 = b.position.y - m2*b.position.x;
float x = (b2 - b1) / (m1 - m2);
float y = m1*x + b1;
if ((a.position.x - a.end.x) == 0) // if a is a vertical line, then there is only 1 possible x value.
{ x = a.position.x; y = m2 *x + b2; }
if ((b.position.x - b.end.x) == 0)
{ x = b.position.x; y = m1 *x + b1; }
r.contact = { x, y }; point p(r.contact);
r.result = circle_point(circle(a.mid(), a.length() / 2), p).result
&& circle_point(circle(b.mid(), b.length() / 2), p).result;
if (m1 == m2)
{
r.result = false;
return r;
}
return r;
}
Eigen::Vector2f EllipseGenerator::operator()()
{
float phi = _arc_dist(G_engine);
Eigen::Array2f circle_point(std::cos(phi), std::sin(phi));
Eigen::Array2f ellipse_point = _geometry.radius.array() * circle_point;
Eigen::Vector2f noise(_noise_dist(G_engine), _noise_dist(G_engine));
Eigen::Vector2f rotated_ellipse_point = _rotation * (ellipse_point.matrix() + noise);
return rotated_ellipse_point + _geometry.center;
}
