std::pair< T, T > intersection( const ray<T,2u>& ray, const circle<T>& circle )
    { 
      // check for no intersection
    
      const T a = dot( ray.direction(), ray.direction() );
      const T b = T(2.) * sum( ray.direction() * ( ray.source() - circle.center() ) );
      const T c =   dot( circle.center(), circle.center() ) 
                  + dot( ray.source(), ray.source() ) 
                  - T(2.) * dot( ray.source(), circle.center() )
                  - sqr( circle.radius() );

      return solve_quadratic_equation(a,b,c);
    }
示例#2
0
文件: ray.hpp 项目: urp/urban-robots
			            ray(const ray<T,Dim>& r)
			            : m_src( r.source() ), m_dir( r.direction() )  {	}