one more for the gipper

1 files changed, 84 insertions, 0 deletions

diff --git a/libraries/ode-0.9/OPCODE/Ice/IceRay.cpp b/libraries/ode-0.9/OPCODE/Ice/IceRay.cpp
new file mode 100644
index 0000000..6cf0330
--- /dev/null
+++ b/libraries/ode-0.9/OPCODE/Ice/IceRay.cpp
@@ -0,0 +1,84 @@
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Contains code for rays.
+ *      \file           IceRay.cpp
+ *      \author         Pierre Terdiman
+ *      \date           April, 4, 2000
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Ray class.
+ *      A ray is a half-line P(t) = mOrig + mDir * t, with 0 <= t <= +infinity
+ *      \class          Ray
+ *      \author         Pierre Terdiman
+ *      \version        1.0
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*
+        O = Origin = impact point
+        i = normalized vector along the x axis
+        j = normalized vector along the y axis = actually the normal vector in O
+        D = Direction vector, norm |D| = 1
+        N = Projection of D on y axis, norm |N| = normal reaction
+        T = Projection of D on x axis, norm |T| = tangential reaction
+        R = Reflexion vector
+
+              ^y
+              |
+              |
+              |
+       _  _  _| _ _ _
+       *      *      *|
+        \     |     /
+         \    |N   /  |
+         R\   |   /D
+           \  |  /    |
+            \ | /
+    _________\|/______*_______>x
+               O    T
+
+        Let define theta = angle between D and N. Then cos(theta) = |N| / |D| = |N| since D is normalized.
+
+        j|D = |j|*|D|*cos(theta) => |N| = j|D
+
+        Then we simply have:
+
+        D = N + T
+
+        To compute tangential reaction :
+
+        T = D - N
+
+        To compute reflexion vector :
+
+        R = N - T = N - (D-N) = 2*N - D
+*/
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Precompiled Header
+#include "Stdafx.h"
+
+using namespace IceMaths;
+
+float Ray::SquareDistance(const Point& point, float* t) const
+{
+        Point Diff = point - mOrig;
+        float fT = Diff | mDir;
+
+        if(fT<=0.0f)
+        {
+                fT = 0.0f;
+        }
+        else
+        {
+                fT /= mDir.SquareMagnitude();
+                Diff -= fT*mDir;
+        }
+
+        if(t) *t = fT;
+
+        return Diff.SquareMagnitude();
+}