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RayDistance.cpp

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00001 //------------------------------------------------------------------------------
00002 // Lamp : Open source game middleware
00003 // Copyright (C) 2004  Junpei Ohtani ( Email : junpee@users.sourceforge.jp )
00004 //
00005 // This library is free software; you can redistribute it and/or
00006 // modify it under the terms of the GNU Lesser General Public
00007 // License as published by the Free Software Foundation; either
00008 // version 2.1 of the License, or (at your option) any later version.
00009 //
00010 // This library is distributed in the hope that it will be useful,
00011 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00012 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00013 // Lesser General Public License for more details.
00014 //
00015 // You should have received a copy of the GNU Lesser General Public
00016 // License along with this library; if not, write to the Free Software
00017 // Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00018 //------------------------------------------------------------------------------
00019 
00020 /** @file
00021  * レイ距離実装
00022  * @author Junpee
00023  */
00024 
00025 #include "LampBasic.h"
00026 #include "Geometry/Distance/RayDistance.h"
00027 
00028 namespace Lamp{
00029 
00030 //------------------------------------------------------------------------------
00031 // 点
00032 //------------------------------------------------------------------------------
00033 // 点距離の二乗
00034 float RayDistance::squaredDistance(const Ray& ray, const Vector3& point){
00035     const Vector3& direction = ray.getDirection();
00036     Vector3 distance = point - ray.getOrigin();
00037     float t = distance.dotProduct(direction);
00038     // tが-だったら投影しない
00039     if(t > 0.f){
00040         t /= direction.getSquaredLength();
00041         distance -= t * direction;
00042 //  }else{
00043 //      t = 0.f;
00044     }
00045     return distance.getSquaredLength();
00046 }
00047 //------------------------------------------------------------------------------
00048 // レイ
00049 //------------------------------------------------------------------------------
00050 // レイ距離の二乗
00051 float RayDistance::squaredDistance(const Ray& ray0, const Ray& ray1){
00052     const Vector3& origin0 = ray0.getOrigin();
00053     const Vector3& direction0 = ray0.getDirection();
00054     const Vector3& origin1 = ray1.getOrigin();
00055     const Vector3& direction1 = ray1.getDirection();
00056     Vector3 direction2 = origin0 - origin1;
00057     float dot00 = direction0.dotProduct(direction0);
00058     float dot01 = direction0.dotProduct(direction1);
00059     float dot11 = direction1.dotProduct(direction1);
00060     float dot02 = direction0.dotProduct(direction2);
00061     float dot12 = direction1.dotProduct(direction2);
00062     float determ = dot00 * dot11 - dot01 * dot01;
00063     float sValue, tValue, sDenom, tDenom;
00064     sDenom = tDenom = determ;
00065 
00066     // レイが平行かチェック
00067     if(determ <= Math::epsilon){
00068         sValue = 0.f;
00069         sDenom = 1.f;
00070         tValue = dot12;
00071         tDenom = dot11;
00072     }else{
00073         sValue = dot01 * dot12 - dot11 * dot02;
00074         tValue = dot00 * dot12 - dot01 * dot02;
00075     }
00076 
00077     // s補正
00078     if(sValue < 0.f){
00079         sValue = 0.f;
00080         tValue = dot12;
00081         tDenom = dot11;
00082     }
00083 
00084     // t補正
00085     if(tValue < 0.f){
00086         tValue = 0.f;
00087         if((-dot02) < 0.f){
00088             sValue = 0.f;
00089         }else{
00090             sValue = -dot02;
00091             sDenom = dot00;
00092         }
00093     }
00094 
00095     float s, t;
00096     if(Math::abs(sDenom) > Math::epsilon){ s = sValue / sDenom; }
00097     else{ s = 0.f; }
00098     if(Math::abs(tDenom) > Math::epsilon){ t = tValue / tDenom; }
00099     else{ t = 0.f; }
00100 
00101     Vector3 direction =
00102         (origin0 + (s * direction0)) - (origin1 + (t * direction1));
00103     return direction.getSquaredLength();
00104 }
00105 //------------------------------------------------------------------------------
00106 // セグメント
00107 //------------------------------------------------------------------------------
00108 // セグメント距離の二乗
00109 float RayDistance::squaredDistance(const Ray& ray, const Segment& segment){
00110     const Vector3& origin0 = ray.getOrigin();
00111     const Vector3& direction0 = ray.getDirection();
00112     const Vector3& origin1 = segment.getOrigin();
00113     const Vector3& direction1 = segment.getDirection();
00114     Vector3 direction2 = origin0 - origin1;
00115     float dot00 = direction0.dotProduct(direction0);
00116     float dot01 = direction0.dotProduct(direction1);
00117     float dot11 = direction1.dotProduct(direction1);
00118     float dot02 = direction0.dotProduct(direction2);
00119     float dot12 = direction1.dotProduct(direction2);
00120     float determ = dot00 * dot11 - dot01 * dot01;
00121     float sValue, tValue, sDenom, tDenom;
00122     sDenom = tDenom = determ;
00123 
00124     // セグメントが平行かチェック
00125     if(determ <= Math::epsilon){
00126         sValue = 0.f;
00127         sDenom = 1.f;
00128         tValue = dot12;
00129         tDenom = dot11;
00130     }else{
00131         sValue = dot01 * dot12 - dot11 * dot02;
00132         tValue = dot00 * dot12 - dot01 * dot02;
00133     }
00134 
00135     // s補正
00136     if(sValue < 0.f){
00137         sValue = 0.f;
00138         tValue = dot12;
00139         tDenom = dot11;
00140     }
00141 
00142     // t補正
00143     if(tValue < 0.f){
00144         tValue = 0.f;
00145         float tmpS = (-dot02);
00146         if(tmpS < 0.f){
00147             sValue = 0.f;
00148         }else{
00149             sValue = tmpS;
00150             sDenom = dot00;
00151         }
00152     }else if(tValue > tDenom){
00153         tValue = tDenom;
00154         float tmpS = dot01 - dot02;
00155         if(tmpS < 0.f){
00156             sValue = 0.f;
00157         }else{
00158             sValue = tmpS;
00159             sDenom = dot00;
00160         }
00161     }
00162 
00163     float s, t;
00164     if(Math::abs(sDenom) > Math::epsilon){ s = sValue / sDenom; }
00165     else{ s = 0.f; }
00166     if(Math::abs(tDenom) > Math::epsilon){ t = tValue / tDenom; }
00167     else{ t = 0.f; }
00168 
00169     Vector3 direction =
00170         (origin0 + (s * direction0)) - (origin1 + (t * direction1));
00171     return direction.getSquaredLength();
00172 }
00173 //------------------------------------------------------------------------------
00174 // 球
00175 //------------------------------------------------------------------------------
00176 // 球距離の二乗
00177 float RayDistance::squaredDistance(const Ray& ray, const Sphere& sphere){
00178     Assert(false);
00179     return 0.f;
00180 }
00181 //------------------------------------------------------------------------------
00182 // 三角
00183 //------------------------------------------------------------------------------
00184 // 三角距離の二乗
00185 float RayDistance::squaredDistance(const Ray& ray, const Triangle& triangle){
00186     Assert(false);
00187     return 0.f;
00188 }
00189 //------------------------------------------------------------------------------
00190 } // End of namespace Lamp
00191 //------------------------------------------------------------------------------

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