LineSegment.h

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#pragma once
 
#include <tdme/tdme.h>
#include <tdme/engine/primitives/fwd-tdme.h>
#include <tdme/math/fwd-tdme.h>
 
using tdme::engine::primitives::BoundingBox;
using tdme::engine::primitives::OrientedBoundingBox;
using tdme::math::Vector3;
 
/**
 * Line segment helper functions
 * @author Andreas Drewke
 */
class tdme::engine::primitives::LineSegment final
{
public:
 
    /**
     * Compute closest point on line segment
     * @param p1 p1 line 1 point 1
     * @param q1 q1 line 1 point 2
     * @param p p point
     * @param c c closest point
     * @return if collides or not
     */
    static void computeClosestPointOnLineSegment(const Vector3& p1, const Vector3& q1, const Vector3& p, Vector3& c);
 
    /**
     * Does line segments collide
     * @param p1 p1 line 1 point 1
     * @param q1 q1 line 1 point 2
     * @param p2 p2 line 2 point 1
     * @param q2 q2 line 2 point 2
     * @param p p intersection point
     * @return if collides or not
     */
    static bool doesLineSegmentsCollide(const Vector3& p1, const Vector3& q1, const Vector3& p2, const Vector3& q2, Vector3& p);
 
    /**
     * Computes closest points c1, c2 on line segment p1->q1, p2->q2
     * based on an algorithm from "Real-Time Collision Detection" / Ericson"
     * Credit:
     * "From Real-Time Collision Detection by Christer Ericson
     * published by Morgan Kaufman Publishers, (c) 2005 Elsevier Inc"
     * @param p1 point p1 on line segment 1
     * @param q1 point q1 on line segment 1
     * @param p2 point p2 on line segment 2
     * @param q2 point q2 on line segment 2
     * @param c1 closest point on line segment 1 c1
     * @param c2 closest point on line segment 2 c2
     */
    static void computeClosestPointsOnLineSegments(const Vector3& p1, const Vector3& q1, const Vector3& p2, const Vector3& q2, Vector3& c1, Vector3& c2);
 
    /**
     * Check if segment collides with bounding box
     * based on an algorithm from "Real-Time Collision Detection" / Ericson
     * Credit:
     * "From Real-Time Collision Detection by Christer Ericson
     * published by Morgan Kaufman Publishers, (c) 2005 Elsevier Inc"
     * @param boundingBox bounding box
     * @param p point p on line segment
     * @param q point q on line segment
     * @param contactMin contact point min
     * @param contactMax contact point max
     * @return true if collides or false if not
     */
    static bool doesBoundingBoxCollideWithLineSegment(BoundingBox* boundingBox, const Vector3& p, const Vector3& q, Vector3& contactMin, Vector3& contactMax);
 
    /**
     * Check if segment collides with oriented bounding box
     * based on an algorithm from "Real-Time Collision Detection" / Ericson
     * Credit:
     * "From Real-Time Collision Detection by Christer Ericson
     * published by Morgan Kaufman Publishers, (c) 2005 Elsevier Inc"
     * @param orientedBoundingBox oriented bounding box
     * @param p point p on line segment
     * @param q point q on line segment
     * @param contactMin contact point min
     * @param contactMax contact point max
     * @return true if collides or false if not
     */
    static bool doesOrientedBoundingBoxCollideWithLineSegment(OrientedBoundingBox* orientedBoundingBox, const Vector3& p, const Vector3& q, Vector3& contactMin, Vector3& contactMax);
 
    /**
     * Does line segment collides with triangle
     * @param p1 p1 triangle point 1
     * @param p2 p2 triangle point 2
     * @param p3 p3 triangle point 3
     * @param r1 r1 line segment point 1
     * @param r2 r2 line segment point 2
     * @param contact point of intersection
     * @return line segment collides with triangle
     */
    static bool doesLineSegmentCollideWithTriangle(const Vector3& p1, const Vector3& p2, const Vector3& p3, const Vector3& r1, const Vector3& r2, Vector3& contact);
 
    /**
     * Does line segment collide with plane
     * @param n n plane normal
     * @param d d plane distance from origin
     * @param p1 p1 line segment point 1
     * @param p2 p2 line segment point 2
     * @param contact point of intersection
     * @return line segment collides with plane
     */
    static bool doesLineSegmentCollideWithPlane(const Vector3& n, float d, const Vector3& p1, const Vector3& p2, Vector3& contact);
 
};