Saxum/extern/bullet/Extras/CDTestFramework/Opcode/Ice/IceRay.h

/*
 *	ICE / OPCODE - Optimized Collision Detection
 * http://www.codercorner.com/Opcode.htm
 * 
 * Copyright (c) 2001-2008 Pierre Terdiman,  pierre@codercorner.com

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
 *	Contains code for rays.
 *	\file		IceRay.h
 *	\author		Pierre Terdiman
 *	\date		April, 4, 2000
 */
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Include Guard
#ifndef __ICERAY_H__
#define __ICERAY_H__

	class ICEMATHS_API Ray
	{
		public:
		//! Constructor
		inline_					Ray()																{}
		//! Constructor
		inline_					Ray(const Point& orig, const Point& dir) : mOrig(orig), mDir(dir)	{}
		//! Copy constructor
		inline_					Ray(const Ray& ray) : mOrig(ray.mOrig), mDir(ray.mDir)				{}
		//! Destructor
		inline_					~Ray()																{}

						float	SquareDistance(const Point& point, float* t=null)	const;
		inline_			float	Distance(const Point& point, float* t=null)			const			{ return sqrtf(SquareDistance(point, t));	}

						Point	mOrig;		//!< Ray origin
						Point	mDir;		//!< Normalized direction
	};

	inline_ void ComputeReflexionVector(Point& reflected, const Point& incoming_dir, const Point& outward_normal)
	{
		reflected = incoming_dir - outward_normal * 2.0f * (incoming_dir|outward_normal);
	}

	inline_ void ComputeReflexionVector(Point& reflected, const Point& source, const Point& impact, const Point& normal)
	{
		Point V = impact - source;
		reflected = V - normal * 2.0f * (V|normal);
	}

	inline_ void DecomposeVector(Point& normal_compo, Point& tangent_compo, const Point& outward_dir, const Point& outward_normal)
	{
		normal_compo = outward_normal * (outward_dir|outward_normal);
		tangent_compo = outward_dir - normal_compo;
	}

	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	/**
	 *	Transforms a direction vector from world space to local space
	 *	\param		local_dir	[out] direction vector in local space
	 *	\param		world_dir	[in] direction vector in world space
	 *	\param		world		[in] world transform
	 */
	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	inline_ void ComputeLocalDirection(Point& local_dir, const Point& world_dir, const Matrix4x4& world)
	{
		// Get world direction back in local space
//		Matrix3x3 InvWorld = world;
//		local_dir = InvWorld * world_dir;
		local_dir = Matrix3x3(world) * world_dir;
	}

	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	/**
	 *	Transforms a position vector from world space to local space
	 *	\param		local_pt	[out] position vector in local space
	 *	\param		world_pt	[in] position vector in world space
	 *	\param		world		[in] world transform
	 */
	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	inline_ void ComputeLocalPoint(Point& local_pt, const Point& world_pt, const Matrix4x4& world)
	{
		// Get world vertex back in local space
		Matrix4x4 InvWorld = world;
		InvWorld.Invert();
		local_pt = world_pt * InvWorld;
	}

	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	/**
	 *	Transforms a ray from world space to local space
	 *	\param		local_ray	[out] ray in local space
	 *	\param		world_ray	[in] ray in world space
	 *	\param		world		[in] world transform
	 */
	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	inline_ void ComputeLocalRay(Ray& local_ray, const Ray& world_ray, const Matrix4x4& world)
	{
		// Get world ray back in local space
		ComputeLocalDirection(local_ray.mDir, world_ray.mDir, world);
		ComputeLocalPoint(local_ray.mOrig, world_ray.mOrig, world);
	}

#endif // __ICERAY_H__