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authordan miller2007-10-19 05:20:07 +0000
committerdan miller2007-10-19 05:20:07 +0000
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-rw-r--r--libraries/ode-0.9/OPCODE/Ice/IceRay.h98
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diff --git a/libraries/ode-0.9/OPCODE/Ice/IceRay.h b/libraries/ode-0.9/OPCODE/Ice/IceRay.h
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1///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
2/**
3 * Contains code for rays.
4 * \file IceRay.h
5 * \author Pierre Terdiman
6 * \date April, 4, 2000
7 */
8///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
9
10///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
11// Include Guard
12#ifndef __ICERAY_H__
13#define __ICERAY_H__
14
15 class ICEMATHS_API Ray
16 {
17 public:
18 //! Constructor
19 inline_ Ray() {}
20 //! Constructor
21 inline_ Ray(const Point& orig, const Point& dir) : mOrig(orig), mDir(dir) {}
22 //! Copy constructor
23 inline_ Ray(const Ray& ray) : mOrig(ray.mOrig), mDir(ray.mDir) {}
24 //! Destructor
25 inline_ ~Ray() {}
26
27 float SquareDistance(const Point& point, float* t=null) const;
28 inline_ float Distance(const Point& point, float* t=null) const { return sqrtf(SquareDistance(point, t)); }
29
30 Point mOrig; //!< Ray origin
31 Point mDir; //!< Normalized direction
32 };
33
34 inline_ void ComputeReflexionVector(Point& reflected, const Point& incoming_dir, const Point& outward_normal)
35 {
36 reflected = incoming_dir - outward_normal * 2.0f * (incoming_dir|outward_normal);
37 }
38
39 inline_ void ComputeReflexionVector(Point& reflected, const Point& source, const Point& impact, const Point& normal)
40 {
41 Point V = impact - source;
42 reflected = V - normal * 2.0f * (V|normal);
43 }
44
45 inline_ void DecomposeVector(Point& normal_compo, Point& tangent_compo, const Point& outward_dir, const Point& outward_normal)
46 {
47 normal_compo = outward_normal * (outward_dir|outward_normal);
48 tangent_compo = outward_dir - normal_compo;
49 }
50
51 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
52 /**
53 * Transforms a direction vector from world space to local space
54 * \param local_dir [out] direction vector in local space
55 * \param world_dir [in] direction vector in world space
56 * \param world [in] world transform
57 */
58 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
59 inline_ void ComputeLocalDirection(Point& local_dir, const Point& world_dir, const Matrix4x4& world)
60 {
61 // Get world direction back in local space
62// Matrix3x3 InvWorld = world;
63// local_dir = InvWorld * world_dir;
64 local_dir = Matrix3x3(world) * world_dir;
65 }
66
67 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
68 /**
69 * Transforms a position vector from world space to local space
70 * \param local_pt [out] position vector in local space
71 * \param world_pt [in] position vector in world space
72 * \param world [in] world transform
73 */
74 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
75 inline_ void ComputeLocalPoint(Point& local_pt, const Point& world_pt, const Matrix4x4& world)
76 {
77 // Get world vertex back in local space
78 Matrix4x4 InvWorld = world;
79 InvWorld.Invert();
80 local_pt = world_pt * InvWorld;
81 }
82
83 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
84 /**
85 * Transforms a ray from world space to local space
86 * \param local_ray [out] ray in local space
87 * \param world_ray [in] ray in world space
88 * \param world [in] world transform
89 */
90 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
91 inline_ void ComputeLocalRay(Ray& local_ray, const Ray& world_ray, const Matrix4x4& world)
92 {
93 // Get world ray back in local space
94 ComputeLocalDirection(local_ray.mDir, world_ray.mDir, world);
95 ComputeLocalPoint(local_ray.mOrig, world_ray.mOrig, world);
96 }
97
98#endif // __ICERAY_H__
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