public bool isRayWithinFOV(IMathPoint rayTo)
{
IMathPoint source = getCentreOfVision();
MathVector direction = ((MathVector)mathUtils.CreateVector(new double[] {
rayTo.ArrayData[0] - source.ArrayData[0],
rayTo.ArrayData[1] - source.ArrayData[1],
rayTo.ArrayData[2] - source.ArrayData[2],
})).Normalise();
// now we need to see if our direction is less extreme than all of the corner directions.
rayVectors();
double theta = Math.Acos(direction.Dot(cameraDirection.Normalise()));
// TODO : this could be better
return(theta < VIEWINGANGLEUPDOWN && theta < VIEWINGANGLERIGHTLEFT);
}
/// <summary>
/// Finds if the vectors are perpendicular
/// </summary>
/// <param name="vec1">Vector 1</param>
/// <param name="vec2">Vector 2</param>
/// <returns>True if the vectors are perpendicular</returns>
public static bool IsPerpendicular(MathVector vec1, MathVector vec2)
{
return Math.Abs(vec1.Dot(vec2)) < errorVal;
}