/// <summary>
/// Calculates the points of intersection between 2 CircleF objects</summary>
/// <param name="c1">First CircleF</param>
/// <param name="c2">Second CircleF</param>
/// <param name="p1">First intersection point</param>
/// <param name="p2">Second intersection point</param>
/// <returns>True iff there are 1 or 2 intersection points; false if there are none or an infinite number</returns>
public static bool Intersect(CircleF c1, CircleF c2, ref Vec2F p1, ref Vec2F p2)
{
Vec2F v1 = c2.Center - c1.Center;
double d = v1.Length;
const double EPS = 1.0e-6;
if (d < EPS ||
d > c1.Radius + c2.Radius)
{
return(false);
}
v1 *= (float)(1 / d);
Vec2F v2 = v1.Perp;
double cos = (d * d + c1.Radius * c1.Radius - c2.Radius * c2.Radius) / (2 * c1.Radius * d);
double sin = Math.Sqrt(1 - cos * cos);
Vec2F t1 = Vec2F.Mul(v1, (float)(c1.Radius * cos));
Vec2F t2 = Vec2F.Mul(v2, (float)(c1.Radius * sin));
p1 = c1.Center + t1 + t2;
p2 = c1.Center + t1 - t2;
return(true);
// From http://mathforum.org/library/drmath/view/51710.html
// First, let C1 and C2 be the centers of the Circlefs with radii r1 and
// r2, and let d be the distance between C1 and C2.
//
// Now let V1 be the unit vector from C1 to C2, and let V2 be the unit
// vector perpendicular to V1.
//
// Also let V3 be the vector from C1 to one of the intersection points.
//
// Finally, let A be the angle between V1 and V3.
//
// From the law of cosines we know that
//
// r2^2 = r1^2 + d^2 - 2*r1*d*cos(A)
//
// With this equation we can solve for 'A'.
//
// The intersection points will be
//
// C1 + [r1*cos(A)]*V1 + [r1*sin(A)]*V2
//
// C1 + [r1*cos(A)]*V1 - [r1*sin(A)]*V2
// a simple unit test
// CircleF test1 = new CircleF(new Vec2F(-0.5f, 0), 1);
// CircleF test2 = new CircleF(new Vec2F(0.5f, 0), 1);
// Vec2F result1 = new Vec2F();
// Vec2F result2 = new Vec2F();
// CircleF.Intersect(test1, test2, ref result1, ref result2);
}
/// <summary>
/// Picks the specified curve</summary>
/// <param name="curve">Curve</param>
/// <param name="p">Picking point</param>
/// <param name="tolerance">Pick tolerance</param>
/// <param name="hitPoint">Hit point</param>
/// <returns>True if curve found; false otherwise</returns>
public static bool Pick(BezierCurve2F curve, Vec2F p, float tolerance, ref Vec2F hitPoint)
{
Queue <BezierCurve2F> curves = new Queue <BezierCurve2F>();
curves.Enqueue(curve);
float dMin = float.MaxValue;
Vec2F closestPoint = new Vec2F();
while (curves.Count > 0)
{
BezierCurve2F current = curves.Dequeue();
// project p onto segment connecting curve endpoints
Seg2F seg = new Seg2F(current.P1, current.P4);
Vec2F projection = Seg2F.Project(seg, p);
float d = Vec2F.Distance(p, projection);
// reject - point not near enough to segment, expanded by curve "thickness"
float flatness = current.Flatness;
if (d - flatness > tolerance)
{
continue;
}
// accept - point within tolerance of curve
if (flatness <= tolerance)
{
if (d < dMin)
{
dMin = d;
closestPoint = projection;
}
}
else
{
BezierCurve2F left, right;
current.Subdivide(0.5f, out left, out right);
curves.Enqueue(left);
curves.Enqueue(right);
}
}
if (dMin < tolerance)
{
hitPoint = closestPoint;
return(true);
}
return(false);
}
/// <summary>
/// Projects a point onto a circle</summary>
/// <param name="p">Point to project</param>
/// <param name="c">Circle to project onto</param>
/// <param name="projection">Projected point</param>
/// <returns>True iff projection is well defined</returns>
public static bool Project(Vec2F p, CircleF c, ref Vec2F projection)
{
Vec2F d = Vec2F.Sub(p, c.Center);
float length = d.Length;
bool wellDefined = false;
if (length > 0.000001f * c.Radius)
{
wellDefined = true;
float scale = c.Radius / length;
projection = Vec2F.Add(c.Center, Vec2F.Mul(d, scale));
}
return(wellDefined);
}
/// <summary>
/// Determines if 2 rays intersect, and if so, returns the ray parameters of the intersection point</summary>
/// <param name="r1">Ray 1</param>
/// <param name="r2">Ray 2</param>
/// <param name="t1">Returned ray parameter 1</param>
/// <param name="t2">Returned ray parameter 2</param>
/// <returns>True iff the rays intersect (are not parallel)</returns>
public static bool Intersect(Ray2F r1, Ray2F r2, ref double t1, ref double t2)
{
double denom = (r2.Direction.Y * r1.Direction.X - r2.Direction.X * r1.Direction.Y);
if (Math.Abs(denom) < 0.000001f)
{
return(false);
}
Vec2F d = Vec2F.Sub(r1.Origin, r2.Origin);
t1 = (r2.Direction.X * d.Y - r2.Direction.Y * d.X) / denom;
t2 = (r1.Direction.X * d.Y - r1.Direction.Y * d.X) / denom;
return(true);
}
/// <summary>
/// Evaluates the curve on parameter t [0,1]</summary>
/// <param name="t">Parameter</param>
/// <returns>Point on the curve at the given parameter</returns>
public Vec2F Evaluate(float t)
{
// use de Casteljau constuction
float oneMinusT = 1.0f - t;
Vec2F s11 = P1 * oneMinusT + P2 * t;
Vec2F s12 = P2 * oneMinusT + P3 * t;
Vec2F s13 = P3 * oneMinusT + P4 * t;
Vec2F s21 = s11 * oneMinusT + s12 * t;
Vec2F s22 = s12 * oneMinusT + s13 * t;
Vec2F s31 = s21 * oneMinusT + s22 * t;
return(s31);
}
/// <summary>
/// Extends box to contain the given point</summary>
/// <param name="p">Point</param>
/// <returns>Extended box</returns>
public Box2F Extend(Vec2F p)
{
if (m_empty)
{
Min = Max = p;
m_empty = false;
}
else
{
Min.X = Math.Min(Min.X, p.X);
Min.Y = Math.Min(Min.Y, p.Y);
Max.X = Math.Max(Max.X, p.X);
Max.Y = Math.Max(Max.Y, p.Y);
}
return(this);
}
/// <summary>
/// Subdivides the Bezier curve into two equivalent Bezier curves</summary>
/// <param name="t">Parameter of subdivision point</param>
/// <param name="left">Left or "less than or equal to t" parameter side</param>
/// <param name="right">Right or "greater than or equal to t" parameter side</param>
public void Subdivide(float t, out BezierCurve2F left, out BezierCurve2F right)
{
// use de Casteljau constuction
float oneMinusT = 1.0f - t;
Vec2F s11 = P1 * oneMinusT + P2 * t;
Vec2F s12 = P2 * oneMinusT + P3 * t;
Vec2F s13 = P3 * oneMinusT + P4 * t;
Vec2F s21 = s11 * oneMinusT + s12 * t;
Vec2F s22 = s12 * oneMinusT + s13 * t;
Vec2F s31 = s21 * oneMinusT + s22 * t;
left = new BezierCurve2F(P1, s11, s21, s31);
right = new BezierCurve2F(s31, s22, s13, P4);
}
private static Vector2 FindIntersection2D(Vector2 ptA, float mA, Vector2 ptB, float mB)
{
// High School algebra alert!
// ptA.Y = mA * ptA.X + cA
// cA = ptA.Y - mA * ptA.X
var cA = ptA.Y - mA * ptA.X;
var cB = ptB.Y - mB * ptB.X;
// y = mA * x + cA
// y = mB * x + cB
// mA * x + cA = mB * x + cB
// x * (mA - mB) = cB - cA
// x = (cB - cA) / (mA - mB)
float x = (cB - cA) / (mA - mB);
float y = mA * x + cA;
System.Diagnostics.Debug.Assert(Math.Abs((mB * x + cB) - y) < 0.001f);
return(new Vector2(x, y));
}
/// <summary>
/// Constructs the circle containing 3 points</summary>
/// <param name="p1">Point 1</param>
/// <param name="p2">Point 2</param>
/// <param name="p3">Point 3</param>
public CircleF(Vec2F p1, Vec2F p2, Vec2F p3)
{
Vec2F o1 = Vec2F.Add(p1, p2); o1 *= 0.5f;
Vec2F o2 = Vec2F.Add(p3, p2); o2 *= 0.5f;
Vec2F d1 = Vec2F.Sub(p2, p1); d1 = d1.Perp;
Vec2F d2 = Vec2F.Sub(p3, p2); d2 = d2.Perp;
double t1 = 0;
double t2 = 0;
if (Ray2F.Intersect(new Ray2F(o1, d1), new Ray2F(o2, d2), ref t1, ref t2))
{
Center = o1 + d1 * (float)t1;
Radius = Vec2F.Distance(Center, p1);
}
else
{
Center = new Vec2F(float.PositiveInfinity, float.PositiveInfinity);
Radius = float.PositiveInfinity;
}
}
/// <summary>
/// Constructor with min and max</summary>
/// <param name="min">Minima of extents</param>
/// <param name="max">Maxima of extents</param>
public Box2F(Vec2F min, Vec2F max)
{
Min = min;
Max = max;
m_empty = false;
}
/// <summary>
/// Constructor</summary>
/// <param name="origin">Ray origin</param>
/// <param name="direction">Ray direction</param>
public Ray2F(Vec2F origin, Vec2F direction)
{
Origin = origin;
Direction = direction;
}
private static Vector2 FindIntersection2D(Vector2 ptA, float mA, Vector2 ptB, float mB)
{
// High School algebra alert!
// ptA.Y = mA * ptA.X + cA
// cA = ptA.Y - mA * ptA.X
var cA = ptA.Y - mA * ptA.X;
var cB = ptB.Y - mB * ptB.X;
// y = mA * x + cA
// y = mB * x + cB
// mA * x + cA = mB * x + cB
// x * (mA - mB) = cB - cA
// x = (cB - cA) / (mA - mB)
float x = (cB - cA) / (mA - mB);
float y = mA * x + cA;
System.Diagnostics.Debug.Assert(Math.Abs((mB * x + cB) - y) < 0.001f);
return new Vector2(x, y);
}
/// <summary>
/// Constructor using end points</summary>
/// <param name="p1">First endpoint</param>
/// <param name="p2">Second endpoint</param>
public Seg2F(Vec2F p1, Vec2F p2)
{
P1 = p1;
P2 = p2;
}
/// <summary>
/// Constructor using 2D vector</summary>
/// <param name="v">2D vector</param>
public Vec3F(Vec2F v)
{
X = v.X;
Y = v.Y;
Z = 1;
}
/// <summary>
/// Determines if point is inside circle</summary>
/// <param name="p">Point</param>
/// <returns>True iff point is inside circle</returns>
public bool Contains(Vec2F p)
{
Vec2F d = Vec2F.Sub(p, Center);
return(d.LengthSquared < (Radius * Radius));
}
/// <summary>
/// Constructor with center and radius</summary>
/// <param name="center">Center point</param>
/// <param name="radius">Radius</param>
public CircleF(Vec2F center, float radius)
{
Center = center;
Radius = radius;
}
