return length;
}
-TrackPoint TrackPart::get_point(float d) const
+OrientedPoint TrackPart::get_point(float d) const
{
- TrackPoint result;
+ OrientedPoint result;
- Transform dir_trans = Transform::rotation(dir, Vector(0, 0, 1));
if(radius)
{
Angle a = Angle::from_radians(d/radius);
- Vector r = dir_trans.transform(Vector(0, -radius, 0));
- result.pos = pos-r+Transform::rotation(a, Vector(0, 0, 1)).transform(r);
- result.dir = dir+a;
+ result.position = transform.transform(Vector(sin(a)*radius, (1-cos(a))*radius, 0));
+ result.rotation = dir+a;
}
else
{
- result.pos = pos+dir_trans.transform(Vector(d, 0, 0));
- result.dir = dir;
+ result.position = transform.transform(Vector(d, 0, 0));
+ result.rotation = dir;
}
return result;
}
-TrackPoint TrackPart::get_nearest_point(const Vector &p) const
+OrientedPoint TrackPart::get_nearest_point(const Vector &p) const
{
- TrackPoint tp;
- Transform dir_trans = Transform::rotation(dir, Vector(0, 0, 1));
+ OrientedPoint result;
if(radius)
{
- Vector r = dir_trans.transform(Vector(0, -radius, 0));
- Vector v = p-pos+r;
+ Vector v = p-transform.transform(Vector(0, radius, 0));
Angle a = Geometry::atan2(v.y, v.x)+Angle::quarter_turn()-dir;
if(radius<0)
a = Angle::half_turn()-a;
a = min(max(a, Angle::zero()), Angle::from_radians(length));
if(radius<0)
a = -a;
- tp.pos = pos-r+Transform::rotation(a, Vector(0, 0, 1)).transform(r);
- tp.dir = dir+a;
+ result.position = transform.transform(Vector(sin(a)*radius, (1-cos(a))*radius, 0));
+ result.rotation = dir+a;
}
else
{
Vector v = p-pos;
- Vector dir_vec = dir_trans.transform(Vector(1, 0, 0));
+ Vector dir_vec = transform.transform_linear(Vector(1, 0, 0));
float d = min(max(dot(dir_vec, v), 0.0f), length);
- tp.pos = pos+dir_vec*d;
- tp.dir = dir;
+ result.position = pos+dir_vec*d;
+ result.rotation = dir;
}
- return tp;
+ return result;
}
void TrackPart::check_link(TrackPart &other)
unsigned n_other_eps = (other.is_dead_end() ? 1 : 2);
for(unsigned i=0; i<n_eps; ++i)
{
- TrackPoint p1 = get_point(i ? get_length() : 0);
+ OrientedPoint p1 = get_point(i ? get_length() : 0);
for(unsigned j=0; j<n_other_eps; ++j)
{
- TrackPoint p2 = other.get_point(j ? other.get_length() : 0);
+ OrientedPoint p2 = other.get_point(j ? other.get_length() : 0);
- Vector span = p2.pos-p1.pos;
+ Vector span = p2.position-p1.position;
- Angle da = wrap_balanced(p2.dir-p1.dir+Angle::half_turn()*float((i+j+1)%2));
+ Angle da = wrap_balanced(p2.rotation-p1.rotation+Angle::half_turn()*float((i+j+1)%2));
if(dot(span, span)<1e-6 && abs(da).radians()<=0.01)
{
void TrackPart::create_shape()
{
- Transform trans = Transform::translation(pos)*
- Transform::rotation(dir, LinAl::Vector<float, 3>(0, 0, 1));
if(radius)
{
Geometry::ExtrudedShape<float, 3> ring(
shapes.push_back(&bounds);
shape = new Geometry::TransformedShape<float, 3>(
Geometry::Intersection<float, 3>::from_iterator_range(shapes.begin(), shapes.end()),
- trans*Transform::translation(Vector(0, radius, 0.005)));
+ transform*Transform::translation(Vector(0, radius, 0.005)));
}
else
{
// TODO Get the track profile dimensions from somewhere
shape = new Geometry::TransformedShape<float, 3>(
Geometry::Box<float>(length, 0.04, 0.01),
- trans*Transform::translation(Vector(length/2, 0, 0.005)));
+ transform*Transform::translation(Vector(length/2, 0, 0.005)));
}
}
obj.length /= 1000;
obj.pos /= 1000;
+
+ obj.transform = Transform::translation(obj.pos)*
+ Transform::rotation(obj.dir, Vector(0, 0, 1));
}
void TrackPart::Loader::start(float x, float y, float d)