int main(void)
{
ArPose pose;
ArLine xLine(-2000, 0, 2000, 0);
ArLine yLine(100, 500, 100, -500);
ArLineSegment xLineSeg(-2000, 0, 2000, 0);
ArLineSegment yLineSeg(100, 500, 100, -500);
// test all our segments
testIntersection(&xLine, &yLine, 100, 0, "xLine and yLine");
testIntersection(&xLineSeg, &yLine, 100, 0, "xLineSeg and yLine");
testIntersection(&yLineSeg, &xLine, 100, 0, "yLineSeg and xLine");
testIntersection(&xLineSeg, &yLineSeg, 100, 0, "xLineSeg and yLineSeg");
// test the perp on all the segments
testPerp(&xLineSeg, ArPose(-2000, 50), ArPose(-2000, 0), "xLineSeg end1");
testPerp(&xLineSeg, ArPose(2000, 50), ArPose(2000, 0), "xLineSeg end2");
testPerp(&xLineSeg, ArPose(357, 50), ArPose(357, 0), "xLineSeg middle");
testNotPerp(&xLineSeg, ArPose(2001, 0), "xLineSeg beyond end2");
testNotPerp(&xLineSeg, ArPose(3000, 0), "xLineSeg way beyond end2");
testNotPerp(&xLineSeg, ArPose(-2001, 0), "xLineSeg beyond end1");
testNotPerp(&xLineSeg, ArPose(-3000, 0), "xLineSeg way beyond end1");
testPerp(&xLineSeg, ArPose(1000, 0), ArPose(1000, 0), "xLineSeg point on line");
printf("All tests completed successfully\n");
return 0;
}
IntersectionDatum World::testIntersection(const Ray &ray, double t_min, std::vector<SceneObject*> &objectSpace) {
SceneObject *closestObject = NULL;
double t = 0.0;
for (std::vector<SceneObject*>::iterator it = objectSpace.begin(); it != objectSpace.end(); it++) {
SceneObject *scene_obj = *it;
IntersectionResult iResult = scene_obj->intersects(ray);
if (iResult.intersected) {
if (scene_obj->isCluster()) {
Cluster *cluster = static_cast<Cluster*>(scene_obj);
IntersectionDatum ir = testIntersection(ray, t_min, cluster->boundedObjects);
if (ir.intersected) {
if (ir.coefficient > t_min && (closestObject == NULL || ir.coefficient < t)) {
closestObject = ir.intersectedObj;
t = ir.coefficient;
}
}
}
else if (iResult.coefficient > t_min && (closestObject == NULL || iResult.coefficient < t)) {
closestObject = scene_obj;
t = iResult.coefficient;
}
}
}
if (closestObject == NULL)
return IntersectionDatum();
else
return IntersectionDatum(t, closestObject);
}
Vec3f sphere::getNormal(Vec3f eye, Vec3f dir)
{
Vec3f normal;
normal = (eye + dir * testIntersection(eye, dir)) - center;
normal.Normalize();
return normal;
}
inline bool CollisionHull::testIntersection(const CollisionHull& other) const {
if (!boundingBoxTransformed.intersect(other.getBoundingBoxTransformed())) return false;
for (const CollisionHullEntry& entry : other.getEntryList()) {
for (const ConvexPolygon& polygon : entry.convexPolygonList) {
if (testIntersection(polygon, other.getCurrentTransformation())) return true;
}
}
return false;
}
Vec3f sphere::getTextureCoords(Vec3f eye, Vec3f dir)
{
Vec3f pt = (eye + dir * testIntersection(eye, dir)) - center;
float theta = acos(pt.z() / radius);
float phi = atan2(pt.y(), pt.x());
float u = phi / 2 / PI;
float v = 1 - (PI - theta) / PI;
return Vec3f(u, v, 0);
}
static void longLatLabel(const string& labelText,
double longitude,
double latitude,
const Vec3d& viewRayOrigin,
const Vec3d& viewNormal,
const Vec3d& bodyCenter,
const Quatd& bodyOrientation,
const Vec3f& semiAxes,
float labelOffset,
Renderer* renderer)
{
double theta = degToRad(longitude);
double phi = degToRad(latitude);
Vec3d pos(cos(phi) * cos(theta) * semiAxes.x,
sin(phi) * semiAxes.y,
-cos(phi) * sin(theta) * semiAxes.z);
float nearDist = renderer->getNearPlaneDistance();
pos = pos * (1.0 + labelOffset);
double boundingRadius = max(semiAxes.x, max(semiAxes.y, semiAxes.z));
// Draw the label only if it isn't obscured by the body ellipsoid
double t = 0.0;
if (testIntersection(Ray3d(Point3d(0.0, 0.0, 0.0) + viewRayOrigin, pos - viewRayOrigin),
Ellipsoidd(Vec3d(semiAxes.x, semiAxes.y, semiAxes.z)), t) && t >= 1.0)
{
// Compute the position of the label
Vec3d labelPos = bodyCenter +
(1.0 + labelOffset) * pos * bodyOrientation.toMatrix3();
// Calculate the intersection of the eye-to-label ray with the plane perpendicular to
// the view normal that touches the front of the objects bounding sphere
double planetZ = viewNormal * bodyCenter - boundingRadius;
if (planetZ < -nearDist * 1.001)
planetZ = -nearDist * 1.001;
double z = viewNormal * labelPos;
labelPos *= planetZ / z;
renderer->addObjectAnnotation(NULL, labelText,
Renderer::PlanetographicGridLabelColor,
Point3f((float) labelPos.x, (float) labelPos.y, (float) labelPos.z));
}
}
RGBVec World::traceRay(const Ray &ray, double t_min, int depth) {
IntersectionDatum idat = testIntersection(ray, t_min, scenery);
if (!idat.intersected)
return bg_colour;
RGBVec result_vec;
ShadableObject *obj = static_cast<ShadableObject *>(idat.intersectedObj);
double t = idat.coefficient;
// compute lighting/shading
for (std::vector<Light>::iterator lptr = lighting.begin(); lptr != lighting.end(); lptr++) {
vec3 p = ray.intersectionPoint(t);
vec3 n = obj->surfaceNormal(p);
vec3 v = (ray.origin - lptr->pos).normalised();
vec3 l = (lptr->pos - p).normalised();
Ray shadowRay(p,l);
// if we're not in shadow w.r.t this light
if (!shadows_enabled || !traceShadowRay(shadowRay, scenery)) {
result_vec += obj->material.shade(*lptr, n, v, l);
}
if (reflections_enabled && obj->material.reflective && depth < MAX_TRACE_DEPTH) {
// recursively trace reflection rays:
vec3 d = ray.direction;
Ray reflected(p, d - n.scaled(2 * d.dot(n)));
RGBVec reflectedColour = traceRay(reflected, REFLECTION_EPS, depth + 1);
if (reflectedColour.r() == 0.0 && reflectedColour.g() == 0.0 && reflectedColour.b() == 0.0) continue;
RGBVec k_m = obj->material.specular_colour;
result_vec += reflectedColour.multiplyColour(k_m);
}
}
return result_vec;
}
