Make use of the mspmath library

[r2c2.git] / source / libr2c2 / trackpart.cpp

diff --git a/source/libr2c2/trackpart.cpp b/source/libr2c2/trackpart.cpp
index 71845bb73c2c22591d3f99b59aaf4d455b2d7988..d8dac075e68701dfc45d8dc3204d315335dd1d5b 100644 (file)
--- a/source/libr2c2/trackpart.cpp
+++ b/source/libr2c2/trackpart.cpp
@@ -7,7 +7,6 @@ using namespace Msp;
 namespace R2C2 {
 
 TrackPart::TrackPart():
-       dir(0),
        length(0),
        radius(0),
        path(0),
@@ -29,19 +28,17 @@ TrackPoint TrackPart::get_point(float d) const
 {
        TrackPoint result;
 
+       Transform dir_trans = Transform::rotation(dir, Vector(0, 0, 1));
        if(radius)
        {
-               float a = d/radius;
-               float c = cos(a);
-               float s = sin(a);
-               float rx = radius*sin(dir);
-               float ry = -radius*cos(dir);
-               result.pos = Vector(pos.x+c*rx-s*ry-rx, pos.y+c*ry+s*rx-ry);
+               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;
        }
        else
        {
-               result.pos = Vector(pos.x+cos(dir)*d, pos.y+sin(dir)*d);
+               result.pos = pos+dir_trans.transform(Vector(d, 0, 0));
                result.dir = dir;
        }
 
@@ -51,29 +48,27 @@ TrackPoint TrackPart::get_point(float d) const
 TrackPoint TrackPart::get_nearest_point(const Vector &p) const
 {
        TrackPoint tp;
-       float c = cos(dir);
-       float s = sin(dir);
+       Transform dir_trans = Transform::rotation(dir, Vector(0, 0, 1));
        if(radius)
        {
-               Vector v(p.x-pos.x+radius*s, p.y-pos.y-radius*c);
-               float a = atan2(v.y, v.x)+M_PI/2-dir;
+               Vector r = dir_trans.transform(Vector(0, -radius, 0));
+               Vector v = p-pos+r;
+               Angle a = Geometry::atan2(v.y, v.x)+Angle::quarter_turn()-dir;
                if(radius<0)
-                       a = M_PI-a;
-               while(a<length/2-M_PI)
-                       a += M_PI*2;
-               while(a>length/2+M_PI)
-                       a -= M_PI*2;
-               a = min(max(a, 0.0f), length);
+                       a = Angle::half_turn()-a;
+               a.wrap_with_base(Angle::from_radians(length/2)-Angle::half_turn());
+               a = min(max(a, Angle::zero()), Angle::from_radians(length));
                if(radius<0)    
                        a = -a;
-               tp.pos = Vector(pos.x+radius*(sin(dir+a)-s), pos.y+radius*(c-cos(dir+a)));
+               tp.pos = pos-r+Transform::rotation(a, Vector(0, 0, 1)).transform(r);
                tp.dir = dir+a;
        }
        else
        {
-               Vector v(p.x-pos.x, p.y-pos.y);
-               float d = min(max(c*v.x+s*v.y, 0.0f), length);
-               tp.pos = Vector(pos.x+c*d, pos.y+s*d);
+               Vector v = p-pos;
+               Vector dir_vec = dir_trans.transform(Vector(1, 0, 0));
+               float d = min(max(dot(dir_vec, v), 0.0f), length);
+               tp.pos = pos+dir_vec*d;
                tp.dir = dir;
        }
        return tp;
@@ -90,16 +85,11 @@ void TrackPart::check_link(TrackPart &other)
                {
                        TrackPoint p2 = other.get_point(j ? other.get_length() : 0);
 
-                       float dx = p2.pos.x-p1.pos.x;
-                       float dy = p2.pos.y-p1.pos.y;
+                       Vector span = p2.pos-p1.pos;
 
-                       float da = p2.dir-p1.dir+M_PI*((i+j+1)%2);
-                       while(da>M_PI)
-                               da -= M_PI*2;
-                       while(da<-M_PI)
-                               da += M_PI*2;
+                       Angle da = wrap_balanced(p2.dir-p1.dir+Angle::half_turn()*float((i+j+1)%2));
 
-                       if(dx*dx+dy*dy<1e-6 && da>=-0.01 && da<=0.01)
+                       if(dot(span, span)<1e-6 && abs(da).radians()<=0.01)
                        {
                                links[i] = &other;
                                other.links[j] = this;
@@ -118,24 +108,22 @@ TrackPart *TrackPart::get_link(unsigned i) const
 
 bool TrackPart::collide_ray(const Vector &start, const Vector &ray, float width) const
 {
-       Vector local_start(start.x-pos.x, start.y-pos.y, start.z);
-       float c = cos(dir);
-       float s = sin(dir);
-       local_start = Vector(c*local_start.x+s*local_start.y, c*local_start.y-s*local_start.x, local_start.z);
-       Vector local_ray(c*ray.x+s*ray.y, c*ray.y-s*ray.x, ray.z);
+       Transform trans = Transform::rotation(dir, Vector(0, 0, -1));
+       Vector local_start = trans.transform(start);
+       Vector local_ray = trans.transform_linear(ray);
 
        float d = -local_start.z/local_ray.z;
        if(d<0)
                return false;
 
-       Vector base(local_start.x+d*local_ray.x, local_start.y+d*local_ray.y);
+       Vector base = local_start+d*local_ray;
 
        if(radius)
        {
                base.y -= radius;
                if(radius<0)
                        base.y = -base.y;
-               float r = sqrt(base.x*base.x+base.y*base.y)-abs(radius);
+               float r = base.norm()-abs(radius);
                float a = atan2(base.x, -base.y);
                return (a>=0 && a<=length && r>=-width/2 && r<=width/2);
        }
@@ -164,15 +152,13 @@ void TrackPart::Loader::finish()
        else
                obj.length /= 1000;
 
-       obj.pos.x /= 1000;
-       obj.pos.y /= 1000;
-       obj.dir *= M_PI/180;
+       obj.pos /= 1000;
 }
 
 void TrackPart::Loader::start(float x, float y, float d)
 {
-       obj.pos = Vector(x, y);
-       obj.dir = d;
+       obj.pos = Vector(x, y, 0);
+       obj.dir = Angle::from_degrees(d);
 }
 
 } // namespace R2C2