public static double IntersectCylinder(Cylinder cylinder, Ray ray)
{
//Переменные для возврата корней квадратного уравнения
double root1, root2;
var a = ray.Direction.X * ray.Direction.X + ray.Direction.Y * ray.Direction.Y;
var center = cylinder.GetAbsoluteLocation().ToPoint3D();
var top = cylinder.GetAbsoluteLocation().ToPoint3D() + new Point3D(0, 0, cylinder.Height);
//Вспомогательный вектор
var vec = ray.Origin - center;
var b = 2 * (ray.Direction.X * vec.X + ray.Direction.Y * vec.Y);
var c = Math.Pow(ray.Origin.X - center.X, 2) +
Math.Pow(ray.Origin.Y - center.Y, 2) -
Math.Pow(cylinder.RBottom, 2);
//Обработка решения
if ((QuadEquation.Solution(a, b, c, out root1, out root2)) && ((root1 >= 0) | (root2 >= 0)))
if (root1 >= 0)
{
Point3D point = ray.CalculatePoint(root1); //если координата z лежит на цилиндре, то это нам подходит
if ((point.Z >= center.Z) && (point.Z <= center.Z + cylinder.Height))
{
return ray.DistanceTo(root1);
}
//если координата z за пределами, то проверяем пересечения с верхней и нижней гранью
else if (IntersectCircle(center, cylinder.RBottom, ray) != null)
{
return ray.Origin.Hypot(IntersectCircle(center, cylinder.RBottom, ray).Value);
}
else if (IntersectCircle(top, cylinder.RBottom, ray) != null)
{
return ray.Origin.Hypot(IntersectCircle(top, cylinder.RBottom, ray).Value);
}
else return double.PositiveInfinity;
}
else //все то же самое для другого корня
{
Point3D point = ray.CalculatePoint(root2);
if ((point.Z >= center.Z) && (point.Z <= center.Z + cylinder.Height))
{
return ray.DistanceTo(root2);
}
else if (IntersectCircle(center, cylinder.RBottom, ray) != null)
{
return ray.Origin.Hypot(IntersectCircle(center, cylinder.RBottom, ray).Value);
}
else if (IntersectCircle(top, cylinder.RBottom, ray) != null)
{
return ray.Origin.Hypot(IntersectCircle(top, cylinder.RBottom, ray).Value);
}
else return double.PositiveInfinity;
}
else
{
return double.PositiveInfinity;
}
}
public static DirectXModel CreateCyllinder(Device device, Cylinder cyl)
{
var drmodel = new DirectXModel
{
Mesh = DirectXPrimitives.CreateCylinderMesh(device, cyl.RBottom, cyl.RTop, cyl.Height),
ModifierMatrix = Matrix.Translation(0, 0, (float)(cyl.Height / 2))
};
var brushes = new[]
{
cyl.Top, cyl.Bottom, cyl.Side
};
drmodel.Mesh.SetMaterials(GetMaterialsFromBrushes(device, cyl.DefaultColor, drmodel, brushes));
return drmodel;
}
public void Visit(Cylinder visitable)
{
IPhysical physical = PhysicalManager.MakeCyllinder(visitable.RBottom, visitable.RTop, visitable.Height);
physical.Body = visitable;
AfterCreating(visitable, physical);
}
public void RayTest(Ray ray, Cylinder cylinder, double distance)
{
var computedDistance = Intersector.IntersectCylinder(cylinder, ray);
Assert.AreEqual(distance, computedDistance);
// Console.WriteLine("Expected: {0}. But was: {1}", distance, computedDistance);
}
public Body CreateWorld(ICvarcEngine engine, ISceneSettings _settings)
{
Settings = (SceneSettings)_settings;
var root = new Body();
var first = new Cylinder
{
Height = 20,
RTop = 10,
RBottom = 10,
Location = new Frame3D(-150 + 25 - 10, 100 - 25 + 10, 3),
DefaultColor = Color.DarkViolet,
IsMaterial = true,
Density = Density.Iron,
FrictionCoefficient = 0,
Top = new PlaneImageBrush { Image = new Bitmap(GetResourceStream("red.png")) },
Type = "Robot"
};
var second = new Cylinder
{
Height = 20,
RTop = 10,
RBottom = 10,
Location = new Frame3D(150 - 25 + 10, 100 - 25 + 10, 3, Angle.Zero, Angle.Pi, Angle.Zero),
DefaultColor = Color.DarkViolet,
IsMaterial = true,
Density = Density.Iron,
FrictionCoefficient = 0,
Top = new PlaneImageBrush { Image = new Bitmap(GetResourceStream("blue.png")) },
Type = "Robot"
};
root.Add(first);
root.Add(second);
first.Collision += body => engine.RaiseOnCollision(first.Id.ToString(), body.Id.ToString(), CollisionType.RobotCollision);
second.Collision += body => engine.RaiseOnCollision(second.Id.ToString(), body.Id.ToString(), CollisionType.RobotCollision);
root.Add(new Box
{
XSize = 300,
YSize = 200,
ZSize = 3,
DefaultColor = Color.White,
Top = new SolidColorBrush { Color = Color.Yellow },
IsStatic = true,
Type = "floor",
});
foreach (var detail in Settings.Details)
{
Color color = Color.White;
string name = "D";
switch (detail.Color)
{
case DetailColor.Red: color = Color.Red; name += "R"; break;
case DetailColor.Blue: color = Color.Blue; name += "B"; break;
case DetailColor.Green: color = Color.Green; name += "G"; break;
}
var box = new Box
{
XSize = 15,
YSize = 15,
ZSize = 15,
Location = new Frame3D(-150 + 25 + detail.Location.X * 50, 100 - 25 - 50 * detail.Location.Y, 0),
DefaultColor = color,
Type = name,
IsMaterial = true,
IsStatic = false,
FrictionCoefficient = 8
};
root.Add(box);
box.Collision += body =>
{
if (box.Parent.Id == first.Id && body.Id == second.Id)
engine.RaiseOnCollision(second.Id.ToString(), first.Id.ToString(), CollisionType.RobotCollision);
if (box.Parent.Id == second.Id && body.Id == first.Id)
engine.RaiseOnCollision(first.Id.ToString(), second.Id.ToString(), CollisionType.RobotCollision);
};
}
CreateWalls(root, Settings.HorizontalWalls, 50, 10, 15, "HW", (x, y) => new Point(-150 + 25 + x * 50, 100 - (y + 1) * 50));
CreateWalls(root, Settings.VerticalWalls, 10, 50, 14, "VW", (x, y) => new Point(-150 + (x + 1) * 50, 100 - 25 - y * 50));
CreateBorders(root);
return root;
}
public void TexturedCylinder (Cylinder cylinder, int textureCount)
{
Assert.True(_modelFactory.TryGetResult(cylinder, out _model));
Assert.AreEqual(textureCount, _model.Textures.Count);
Assert.AreEqual(3, _model.Mesh.GetMaterials().Length);
}
