Add more collision check functions for shapes

[libs/math.git] / source / geometry / transformedshape.h

diff --git a/source/geometry/transformedshape.h b/source/geometry/transformedshape.h
index 2168126242ab88d1823230ac3b56f34df0eaa564..ea7281f746067c8d0c4dcb757edd1120ee0c903b 100644 (file)
--- a/source/geometry/transformedshape.h
+++ b/source/geometry/transformedshape.h
@@ -28,7 +28,10 @@ public:
        const AffineTransformation<T, D> &get_transformation() const { return transformation; }
 
        virtual HyperBox<T, D> get_axis_aligned_bounding_box() const;
+       virtual bool contains(const LinAl::Vector<T, D> &) const;
        virtual bool check_intersection(const Ray<T, D> &) const;
+       virtual unsigned get_max_ray_intersections() const { return shape->get_max_ray_intersections(); }
+       virtual unsigned get_intersections(const Ray<T, D> &, SurfacePoint<T, D> *, unsigned) const;
 };
 
 template<typename T, unsigned D>
@@ -73,6 +76,12 @@ inline HyperBox<T, D> TransformedShape<T, D>::get_axis_aligned_bounding_box() co
        return shape->get_axis_aligned_bounding_box();
 }
 
+template<typename T, unsigned D>
+inline bool TransformedShape<T, D>::contains(const LinAl::Vector<T, D> &point) const
+{
+       return shape->contains(inverse_trans.transform(point));
+}
+
 template<typename T, unsigned D>
 inline bool TransformedShape<T, D>::check_intersection(const Ray<T, D> &ray) const
 {
@@ -81,6 +90,25 @@ inline bool TransformedShape<T, D>::check_intersection(const Ray<T, D> &ray) con
        return shape->check_intersection(local_ray);
 }
 
+template<typename T, unsigned D>
+inline unsigned TransformedShape<T, D>::get_intersections(const Ray<T, D> &ray, SurfacePoint<T, D> *points, unsigned size) const
+{
+       Ray<T, D> local_ray(inverse_trans.transform(ray.get_start()),
+               inverse_trans.transform_linear(ray.get_direction()));
+       unsigned count = shape->get_intersections(local_ray, points, size);
+       if(points)
+       {
+               for(unsigned i=0; i<count; ++i)
+               {
+                       points[i].position = transformation.transform(points[i].position);
+                       /* XXX This is not correct for nonuniform scaling.  Inverse of the
+                       transpose of the upper DxD part of the matrix should be used. */
+                       points[i].normal = transformation.transform(points[i].normal);
+               }
+       }
+       return count;
+}
+
 } // namespace Geometry
 } // namespace Msp