bool BEZIER::Collide(VERTEX origin, VERTEX direction, VERTEX &outtri)
{
int i;
VERTEX curtri[3];
int retval = 0;
float t, u, v;
int x, y;
for (i = 0; i < NumTris(COLLISION_DIVS) && !retval; i++)
{
GetTri(COLLISION_DIVS, i, curtri);
retval = INTERSECT_FUNCTION(origin.v3(), direction.v3(),
curtri[0].v3(), curtri[1].v3(), curtri[2].v3(),
&t, &u, &v);
if (retval)
{
if (i % 2 == 0)
{
u = 1.0 - u;
v = 1.0 - v;
}
u = 1.0 - u;
v = 1.0 - v;
x = (i/2) % COLLISION_DIVS;
y = (i/2) / COLLISION_DIVS;
u += (float) x;
v += (float) y;
u = u / (float) COLLISION_DIVS;
v = v / (float) COLLISION_DIVS;
//u = 1.0 - u;
//v = 1.0 - v;
//cout << u << "," << v << endl;
outtri = SurfCoord(u, v);
return true;
}
}
outtri = origin;
return false;
}
void BEZIER::GetTri(int div, int num, VERTEX outtri[3])
{
int firsttri = num % 2;
int x = (num/2) % div;
int y = (num/2) / div;
if (firsttri == 0)
{
float px = (float) x / (float) div;
float py = (float) y / (float) div;
float pxo = (float) (x+1) / (float) div;
float pyo = (float) (y+1) / (float) div;
/*glVertex3fv(SurfCoord(px, py).v3());
glVertex3fv(SurfCoord(pxo, py).v3());
glVertex3fv(SurfCoord(pxo, pyo).v3());*/
outtri[0] = SurfCoord(px, py);
outtri[1] = SurfCoord(pxo, py);
outtri[2] = SurfCoord(px, pyo);
}
else
{
float px = (float) x / (float) div;
float py = (float) y / (float) div;
float pxo = (float) (x+1) / (float) div;
float pyo = (float) (y+1) / (float) div;
/*glVertex3fv(SurfCoord(px, py).v3());
glVertex3fv(SurfCoord(pxo, pyo).v3());
glVertex3fv(SurfCoord(px, pyo).v3());*/
outtri[0] = SurfCoord(pxo, pyo);
outtri[1] = SurfCoord(px, pyo);
outtri[2] = SurfCoord(pxo, py);
}
}
bool Bezier::CollideSubDivQuadSimpleNorm(const Vec3 & origin, const Vec3 & direction, Vec3 &outtri, Vec3 & normal) const
{
bool col = false;
const int COLLISION_QUAD_DIVS = 6;
const float areacut = 0.5;
float t, u, v;
float su = 0;
float sv = 0;
float umin = 0;
float umax = 1;
float vmin = 0;
float vmax = 1;
Vec3 ul = points[3][3];
Vec3 ur = points[3][0];
Vec3 br = points[0][0];
Vec3 bl = points[0][3];
for (int i = 0; i < COLLISION_QUAD_DIVS; i++)
{
float tu[2];
float tv[2];
//speedup for i == 0
//if (i != 0)
{
tu[0] = umin;
if (tu[0] < 0)
tu[0] = 0;
tu[1] = umax;
if (tu[1] > 1)
tu[1] = 1;
tv[0] = vmin;
if (tv[0] < 0)
tv[0] = 0;
tv[1] = vmax;
if (tv[1] > 1)
tv[1] = 1;
ul = SurfCoord(tu[0], tv[0]);
ur = SurfCoord(tu[1], tv[0]);
br = SurfCoord(tu[1], tv[1]);
bl = SurfCoord(tu[0], tv[1]);
}
col = IntersectQuadrilateralF(origin, direction, ul, ur, br, bl, t, u, v);
if (col)
{
//expand quad UV to surface UV
//su = u * (umax - umin) + umin;
//sv = v * (vmax - vmin) + vmin;
su = u * (tu[1] - tu[0]) + tu[0];
sv = v * (tv[1] - tv[0]) + tv[0];
//place max and min according to area hit
vmax = sv + (0.5*areacut)*(vmax - vmin);
vmin = sv - (0.5*areacut)*(vmax - vmin);
umax = su + (0.5*areacut)*(umax - umin);
umin = su - (0.5*areacut)*(umax - umin);
}
else
{
outtri = origin;
return false;
}
}
outtri = SurfCoord(su, sv);
normal = SurfNorm(su, sv);
return true;
}
void Bezier::Attach(Bezier & other, bool reverse)
{
/*if (!reverse)
{
//move the other patch to the location of this patch and force its
// intermediate points into a nice grid layout
other.SetFromCorners(other.points[0][0], other.points[0][3], points[0][0], points[0][3]);
for (int x = 0; x < 4; x++)
{
//slope points in the forward direction
Vec3 slope = other.points[0][x] - points[3][x];
if (slope.Magnitude() > 0.0001)
slope = slope.Normalize();
float otherlen = (other.points[0][x] - other.points[3][x]).Magnitude();
float mylen = (points[0][x] - points[3][x]).Magnitude();
float meanlen = (otherlen + mylen)/2.0;
float leglen = meanlen / 3.0;
if (slope.Magnitude() > 0.0001)
{
other.points[2][x] = other.points[3][x] + slope*leglen;
points[1][x] = points[0][x] + slope*(-leglen);
}
else
{
other.points[2][x] = other.points[3][x];
points[1][x] = points[0][x];
}
}
}*/
//CheckForProblems();
//store the pointer to next patch
next_patch = &other;
//calculate the track radius at the connection of this patch and next patch
Vec3 a = SurfCoord(0.5,0.0);
Vec3 b = SurfCoord(0.5,1.0);
Vec3 c = other.SurfCoord(0.5,1.0);
if (reverse)
{
a = SurfCoord(0.5,1.0);
b = SurfCoord(0.5,0.0);
c = other.SurfCoord(0.5,0.0);
//Reverse();
}
//racing_line = a;
Vec3 d1 = a - b;
Vec3 d2 = c - b;
float diff = d2.Magnitude() - d1.Magnitude();
double dd = ((d1.Magnitude() < 0.0001) || (d2.Magnitude() < 0.0001)) ? 0.0 : d1.Normalize().dot(d2.Normalize());
float angle = acos((dd>=1.0L)?1.0L:(dd<=-1.0L)?-1.0L:dd);
float d1d2mag = d1.Magnitude() + d2.Magnitude();
float alpha = (d1d2mag < 0.0001) ? 0.0f : (M_PI * diff + 2.0 * d1.Magnitude() * angle) / d1d2mag / 2.0;
if (fabs(alpha - M_PI/2.0) < 0.001) track_radius = 10000.0;
else track_radius = d1.Magnitude() / 2.0 / cos(alpha);
if (d1.Magnitude() < 0.0001)
track_curvature = 0.0;
else
track_curvature = 2.0 * cos(alpha) / d1.Magnitude();
//determine it's a left or right turn at the connection
Vec3 d = d1.cross(d2);
if (fabs(d[0]) < 0.1 && fabs(d[1]) < 0.1 && fabs(d[2]) < 0.1)
{
turn = 0; //straight ahead
}
else if (d[1] > 0.0) turn = -1; //left turn ahead
else turn = 1; //right turn ahead
//calculate distance from start of the road
if (other.next_patch == NULL || reverse) other.dist_from_start = dist_from_start + d1.Magnitude();
length = d1.Magnitude();
}
bool BEZIER::CollideSubDivQuadSimpleNorm(const MATHVECTOR<float,3> & origin, const MATHVECTOR<float,3> & direction, MATHVECTOR<float,3> &outtri, MATHVECTOR<float,3> & normal) const
{
bool col = false;
const int COLLISION_QUAD_DIVS = 6;
const bool QUAD_DIV_FAST_DISCARD = true;
float t, u, v;
float su = 0;
float sv = 0;
float umin = 0;
float umax = 1;
float vmin = 0;
float vmax = 1;
//const float fuzziness = 0.13;
MATHVECTOR<float,3> ul = points[3][3];
MATHVECTOR<float,3> ur = points[3][0];
MATHVECTOR<float,3> br = points[0][0];
MATHVECTOR<float,3> bl = points[0][3];
//int subdivnum = 0;
bool loop = true;
float areacut = 0.5;
for (int i = 0; i < COLLISION_QUAD_DIVS && loop; i++)
{
float tu[2];
float tv[2];
//speedup for i == 0
//if (i != 0)
{
tu[0] = umin;
if (tu[0] < 0)
tu[0] = 0;
tu[1] = umax;
if (tu[1] > 1)
tu[1] = 1;
tv[0] = vmin;
if (tv[0] < 0)
tv[0] = 0;
tv[1] = vmax;
if (tv[1] > 1)
tv[1] = 1;
ul = SurfCoord(tu[0], tv[0]);
ur = SurfCoord(tu[1], tv[0]);
br = SurfCoord(tu[1], tv[1]);
bl = SurfCoord(tu[0], tv[1]);
}
//u = v = 0.0;
col = IntersectQuadrilateralF(origin, direction,
ul, ur, br, bl,
t, u, v);
if (col)
{
//expand quad UV to surface UV
//su = u * (umax - umin) + umin;
//sv = v * (vmax - vmin) + vmin;
su = u * (tu[1] - tu[0]) + tu[0];
sv = v * (tv[1] - tv[0]) + tv[0];
//place max and min according to area hit
vmax = sv + (0.5*areacut)*(vmax-vmin);
vmin = sv - (0.5*areacut)*(vmax-vmin);
umax = su + (0.5*areacut)*(umax-umin);
umin = su - (0.5*areacut)*(umax-umin);
}
else
{
if ((i == 0) && QUAD_DIV_FAST_DISCARD)
//if (QUAD_DIV_FAST_DISCARD)
{
outtri = origin;
return false;
}
else
{
/*if (verbose)
{
cout << "<" << i << ": nocol " << su << "," << sv << ">" << endl;
cout << "<" << umin << "," << umax << ";" << vmin << "," << vmax << ">" << endl;
ul.DebugPrint();
ur.DebugPrint();
bl.DebugPrint();
br.DebugPrint();
cout << endl;
}*/
loop = false;
}
}
}
if (col)// || QUAD_DIV_FAST_DISCARD)
//if (col)
{
/*if (!col)
cout << "blip " << su << "," << sv << ": " << u << "," << v << endl;*/
outtri = SurfCoord(su, sv);
normal = SurfNorm(su, sv);
//if (verbose)
//cout << "<" << i << ">" << endl;
return true;
}
else
{
outtri = origin;
return false;
}
}
void BEZIER::DrawSurf(int div, float trans)
{
int x, y;
float px, py, pxo, pyo, col;
//VERTEX temp[4];
VERTEX normal;
if (div < 1)
div = 1;
glBegin(GL_TRIANGLES);
for (x = 0; x < div; x++)
{
for (y = 0; y < div; y++)
{
//if (x < div - 1 && y < div - 1)
{
px = (float) x / (float) div;
py = (float) y / (float) div;
pxo = (float) (x+1) / (float) div;
pyo = (float) (y+1) / (float) div;
normal = (SurfCoord(pxo, pyo) - SurfCoord(px, py)).cross(SurfCoord(pxo, py) - SurfCoord(px, py));
normal = normal.normalize();
col = normal.y;
col = col * col;
glColor4f(col,col,col, trans);
glVertex3fv(SurfCoord(pxo, py).v3());
glVertex3fv(SurfCoord(px, py).v3());
glVertex3fv(SurfCoord(px, pyo).v3());
normal = (SurfCoord(px, pyo) - SurfCoord(px, py)).cross(SurfCoord(pxo, pyo) - SurfCoord(px, py));
normal = normal.normalize();
col = normal.y;
col = col * col;
glColor4f(col,col,col, trans);
glVertex3fv(SurfCoord(px, pyo).v3());
glVertex3fv(SurfCoord(pxo, pyo).v3());
glVertex3fv(SurfCoord(pxo, py).v3());
}
}
}
glEnd();
}
