bool glmRectangle::clip( glm::vec3& _p0, glm::vec3& _p1) const {
glm::vec3 topLeft = getTopLeft();
glm::vec3 topRight = getTopRight();
glm::vec3 bottomRight = getBottomRight();
glm::vec3 bottomLeft = getBottomLeft();
if (!inside(_p0)) {
glm::vec3 r;
if (LineSegmentIntersection(_p0, _p1, topLeft, topRight, r)){
_p0 = r;
} else if (LineSegmentIntersection(_p0, _p1, topRight, bottomRight, r)){
_p0 = r;
} else if (LineSegmentIntersection(_p0, _p1, bottomRight, bottomLeft, r)){
_p0 = r;
} else if (LineSegmentIntersection(_p0, _p1, bottomLeft, topLeft, r)){
_p0 = r;
}
}
if (!inside(_p1)) {
glm::vec3 r;
if (LineSegmentIntersection(_p1, _p0, topLeft, topRight, r)){
_p1 = r;
} else if (LineSegmentIntersection(_p1, _p0, topRight, bottomRight, r)){
_p1 = r;
} else if (LineSegmentIntersection(_p1, _p0, bottomRight, bottomLeft, r)){
_p1 = r;
} else if (LineSegmentIntersection(_p1, _p0, bottomLeft, topLeft, r)){
_p1 = r;
}
}
}
double NavigationModel::getRange(const coordinate auvPosition, BottomModel& bottom)
{
line sonarLine;
line bottomLine;
double minRange = maxRange;
double currentRange = maxRange;
double x = auvPosition.x;
double intersectionX, intersectionY;
for (int i = 0; i < numbSonarBeams; i++)
{
sonarLine = sonarBeams[i].getLine(auvPosition);
while (x <= (auvPosition.x + maxRange))
{
bottomLine = bottom.getBottomLine(x);
if (LineSegmentIntersection(sonarLine.x1, sonarLine.y1, sonarLine.x2, sonarLine.y2,
bottomLine.x1, bottomLine.y1, bottomLine.x2, bottomLine.y2, &intersectionX, &intersectionY))
{
currentRange = intersectionX - auvPosition.x;
if (currentRange < minRange)
{
minRange = currentRange;
}
}
x++;
}
x = auvPosition.x;
}
return minRange;
}
bool CMinotaur::RayCastForward(float& fHitTime)
{
XMFLOAT3 start = *GetPosition();
start.y = 75.0f;
TRay tRay;
tRay.f3Start = start;
XMFLOAT3 f3ZAxis = *GetZAxis();
tRay.f3Direction.x = f3ZAxis.x;
tRay.f3Direction.y = f3ZAxis.y;
tRay.f3Direction.z = f3ZAxis.z;
tRay.fDistance = 25000.0f;
std::vector<IObject*> vColliders = m_cpObjectManager->GetList(CObjectManager::Static);
for (unsigned int i = 0; i < m_vDoors.size(); i++)
{
vColliders.push_back(m_vDoors[i]);
}
bool bOutput = true;
if (LineSegmentIntersection(tRay, vColliders, fHitTime) == false)
{
bOutput = false;
}
return bOutput;
}
std::vector<glmPolyline> glmPolyline::splitAtIntersection(const glmPolyline &_other, float _gap){
std::vector<glmPolyline> RTA;
if (size()>0 && _other.size()>0) {
glmPolyline buffer;
buffer.add(m_points[0]);
for (int i = 0; i < m_points.size()-1; i++){
for (int j = 0; j < _other.size()-1; j++){
glm::vec3 intersection;
if(LineSegmentIntersection(m_points[i],m_points[i+1],
_other[j],_other[j+1],
intersection)){
glmPolarPoint polar = glmPolarPoint(m_points[i],m_points[i+1]);
glm::vec3 gap = glmPolarPoint(polar.a,_gap,m_points[i].z).getXY();
buffer.add(intersection-gap);
RTA.push_back(buffer);
buffer.clear();
buffer.add(intersection+gap);
}
}
buffer.add(m_points[i+1]);
}
RTA.push_back(buffer);
}
return RTA;
}
//----------------------------------------------------------
bool glmRectangle::intersects(const glm::vec3& p0, const glm::vec3& p1) const {
// check for a line intersection
glm::vec3 p;
glm::vec3 topLeft = getTopLeft();
glm::vec3 topRight = getTopRight();
glm::vec3 bottomRight = getBottomRight();
glm::vec3 bottomLeft = getBottomLeft();
return inside(p0) || // check end inside
inside(p1) || // check end inside
LineSegmentIntersection(p0, p1, topLeft, topRight, p) || // cross top
LineSegmentIntersection(p0, p1, topRight, bottomRight, p) || // cross right
LineSegmentIntersection(p0, p1, bottomRight, bottomLeft, p) || // cross bottom
LineSegmentIntersection(p0, p1, bottomLeft, topLeft, p); // cross left
}
bool CMinotaur::RayCastInfinite(float& fHitTime, XMFLOAT3& f3CollisionPoint)
{
XMFLOAT3 start = *GetPosition();
XMFLOAT3 end = *GetPlayer()->GetPosition();
start.y = 75.0f;
end.y = 75.0f;
TRay tRay;
tRay.f3Start = start;
tRay.f3Direction.x = end.x - start.x;
tRay.f3Direction.y = end.y - start.y;
tRay.f3Direction.z = end.z - start.z;
float fDist = sqrt(XMF3DotProduct(tRay.f3Direction, tRay.f3Direction));
tRay.f3Direction.x /= fDist;
tRay.f3Direction.y /= fDist;
tRay.f3Direction.z /= fDist;
tRay.fDistance = 25000.0f;
float fMinX, fMaxX, fMinZ, fMaxZ;
fMinX = min(start.x, end.x);
fMaxX = max(start.x, end.x);
fMinZ = min(start.z, end.z);
fMaxZ = max(start.z, end.z);
std::vector<IObject*> vColliders = m_cpObjectManager->GetList(CObjectManager::Static);
for (unsigned int i = 0; i < m_vDoors.size(); i++)
{
vColliders.push_back(m_vDoors[i]);
}
bool bOutput = true;
if (LineSegmentIntersection(tRay, vColliders, fHitTime) == false)
{
bOutput = false;
}
if (bOutput)
{
f3CollisionPoint.x = tRay.f3Start.x + tRay.f3Direction.x * fHitTime;
f3CollisionPoint.y = tRay.f3Start.y + tRay.f3Direction.y * fHitTime;
f3CollisionPoint.z = tRay.f3Start.z + tRay.f3Direction.z * fHitTime;
}
return bOutput;
}
bool CMinotaur::RayCastToPlayer(float& fHitTime)
{
XMFLOAT3 start = *GetPosition();
XMFLOAT3 startL = start;
XMFLOAT3 startR = start;
startL.x += GetVelocity().x * 45;
startR.x -= GetVelocity().x * 45;
XMFLOAT3 end = *GetPlayer()->GetPosition();
start.y = 75.0f;
end.y = 75.0f;
TRay tRay;
tRay.f3Start = startL;
tRay.f3Direction.x = end.x - startL.x;
tRay.f3Direction.y = end.y - startL.y;
tRay.f3Direction.z = end.z - startL.z;
float fDist = sqrt(XMF3DotProduct(tRay.f3Direction, tRay.f3Direction));
tRay.f3Direction.x /= fDist;
tRay.f3Direction.y /= fDist;
tRay.f3Direction.z /= fDist;
tRay.fDistance = fDist - 46.0f;
float fMinX, fMaxX, fMinZ, fMaxZ;
fMinX = min(start.x, end.x);
fMaxX = max(start.x, end.x);
fMinZ = min(start.z, end.z);
fMaxZ = max(start.z, end.z);
std::vector<IObject*> vColliders = m_cpObjectManager->GetQuadTree()->GetNearbyObjects(fMinX, fMinZ, fMaxX, fMaxZ);
for (unsigned int i = 0; i < m_vDoors.size(); i++)
{
vColliders.push_back(m_vDoors[i]);
}
bool bOutput = true;
float tempHitTime = 0.0f;
if (LineSegmentIntersection(tRay, vColliders, fHitTime) == false)
{
CCapsule* pCapsule = (CCapsule*)m_pvColliders[1]->GetBounds();
float fRadius = pCapsule->GetRadius();
tRay.f3Start.x += fRadius;
tRay.fDistance = sqrt(XMF3DotProduct(tRay.f3Direction, tRay.f3Direction)) - 46.0f;
if (LineSegmentIntersection(tRay, vColliders, fHitTime) == false)
{
tRay.f3Start.x -= fRadius * 2;
tRay.fDistance = sqrt(XMF3DotProduct(tRay.f3Direction, tRay.f3Direction)) - 46.0f;
if (LineSegmentIntersection(tRay, vColliders, fHitTime) == false)
{
tRay.f3Start.z += fRadius;
tRay.f3Start.x += fRadius;
tRay.fDistance = sqrt(XMF3DotProduct(tRay.f3Direction, tRay.f3Direction)) - 46.0f;
if (LineSegmentIntersection(tRay, vColliders, fHitTime) == false)
{
tRay.f3Start.z -= fRadius*2.0f;
tRay.f3Start.x += fRadius;
tRay.fDistance = sqrt(XMF3DotProduct(tRay.f3Direction, tRay.f3Direction)) - 46.0f;
if (LineSegmentIntersection(tRay, vColliders, fHitTime) == false)
{
bOutput = false;
}
}
}
}
}
return bOutput;
}