geometry.h

RoboCup 3D 仿真组清华大学2005的源代码

/***************************************************************************
 *   Copyright (C) 2005 by Rujia Liu                                       *
 *   [e-mail]                                                  *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 ***************************************************************************/
#ifndef GEOMETRY_H
#define GEOMETRY_H
#include <zeitgeist/leaf.h>

using namespace salt;

namespace Geometry{

    typedef Vector2f Point;
    typedef Point Triangle[3];

    // ray, from point o towards direction dir(unit vector)
    struct Ray
    {
        Point o;
        Point dir;
    };
    
    // polar position
    struct VisionSense
    {
      float distance;
      float theta;
      float phi;
      VisionSense() : distance(0), theta(0), phi(0){};
    };
       
    const float eps = 1e-5;

    float rand_float(float min, float max);
    float sqr(float x);    
    float cross(Point p0, Point p1, Point p2);
    float dot(Point p0, Point p1, Point p2);
    float dis(Point p1, Point p2);
    
    Point MakePoint(Vector3f v);
    Ray MakeRay(Point origin, Point direction);
    
    float DistanceToLine(Point x, Point p1, Point p2, Point& p);
    float GetDistOnRay(Ray r, Point p);
    Point GetPointOnRay(Point p0, Point p1, float dist);
    Vector3f GetRelativePosition(const VisionSense& vision);
    float GetProjectionDistance(Point p0, Point p1, Point p2);
    Point GetProjectionPoint(Point p0, Point p1, Point p);
    Point VectorCombine(Point p, float t, float rr);
};

#endif