////////////////////////////////////////////////////////////////////////////////////
///
/// \brief This method is used to check if the object intersects with a segment
/// in the XY plane.
///
/// The zHigh and zLow values are used to eliminate obstacles above or
/// below a Z axis threshold of the XY planes.
///
/// \param[in] segment The segment to check for collision with.
/// \param[in] zHigh The upper boundary in the zPlane for collision detection.
/// \param[in] zLow The lower boundary in the zPlane for collision detection.
///
/// \return True if there is a collision, otherwise false.
///
////////////////////////////////////////////////////////////////////////////////////
bool Line::IsCollisionInXY(const Segment3D& segment,
const double zHigh, const double zLow) const
{
bool result = false;
// Translate to XY plane.
Segment3D segmentXY1(Point3D(mLine.mPoint1.mX, mLine.mPoint1.mY, 0.0),
Point3D(mLine.mPoint2.mX, mLine.mPoint2.mY, 0.0),
mLine.mWidth);
Segment3D segmentXY2(Point3D(segment.mPoint1.mX, segment.mPoint1.mY, 0.0),
Point3D(segment.mPoint2.mX, segment.mPoint2.mY, 0.0),
segment.mWidth);
BoundingBox bbox = BoundingBox::CreateBoundingBox(mLine);
// Check that our object is within the z boundaries.
if(bbox.GetTop() >= zLow && bbox.GetBottom() <= zHigh)
{
// My z value is within the boundaries, so now check if we are
// within the distance to the segment.
if(Segment3D::GetDistanceToSegment(segmentXY1, segmentXY2) <= 0.0)
{
result = true;
}
}
return result;
}
////////////////////////////////////////////////////////////////////////////////////
///
/// \brief This method is used to check if the object intersects with a triangle
/// in the XY plane.
///
/// The zHigh and zLow values are used to eliminate obstacles above or
/// below a Z axis threshold of the XY planes.
///
/// \param[in] p1 A point describing a triangle.
/// \param[in] p2 A point describing a triangle.
/// \param[in] p3 A point describing a triangle.
/// \param[in] zHigh The upper boundary in the zPlane for collision detection.
/// \param[in] zLow The lower boundary in the zPlane for collision detection.
///
/// \return True if there is a collision, otherwise false.
///
////////////////////////////////////////////////////////////////////////////////////
bool Line::IsCollisionInXY(const Point3D& p1,
const Point3D& p2,
const Point3D& p3,
const double zHigh, const double zLow) const
{
bool result = false;
// Translate to the XY plane.
Point3D point1XY(p1.mX, p1.mY, 0);
Point3D point2XY(p2.mX, p2.mY, 0);
Point3D point3XY(p3.mX, p3.mY, 0);
Segment3D segmentXY(Point3D(mLine.mPoint1.mX, mLine.mPoint1.mY, 0.0),
Point3D(mLine.mPoint2.mX, mLine.mPoint2.mY, 0.0),
mLine.mWidth);
BoundingBox bbox = BoundingBox::CreateBoundingBox(mLine);
// Check that our object is within the z boundaries.
if(bbox.GetTop() >= zLow && bbox.GetBottom() <= zHigh)
{
if(segmentXY.mPoint1.IsInside(point1XY, point2XY, point3XY) ||
segmentXY.mPoint2.IsInside(point1XY, point2XY, point3XY) )
{
result = true;
}
else
{
Segment3D edge1(point1XY, point2XY);
Segment3D edge2(point2XY, point3XY);
Segment3D edge3(point3XY, point1XY);
// Check for intersections with edges of the triangle.
if(Segment3D::GetDistanceToSegment(segmentXY, edge1) <= 0.0)
{
result = true;
}
else if(Segment3D::GetDistanceToSegment(segmentXY, edge2) <= 0.0)
{
result = true;
}
else if(Segment3D::GetDistanceToSegment(segmentXY, edge3) <= 0.0)
{
result = true;
}
}
}
return result;
}