Merging r5975 through r6036 from trunk to ogl-es branch.

GLES drivers adapted, but only did make compile-tests.


git-svn-id: svn://svn.code.sf.net/p/irrlicht/code/branches/ogl-es@6038 dfc29bdd-3216-0410-991c-e03cc46cb475

include/line3d.h

@@ -0,0 +1,144 @@
+// Copyright (C) 2002-2012 Nikolaus Gebhardt
+// This file is part of the "Irrlicht Engine".
+// For conditions of distribution and use, see copyright notice in irrlicht.h
+
+#ifndef __IRR_LINE_3D_H_INCLUDED__
+#define __IRR_LINE_3D_H_INCLUDED__
+
+#include "irrTypes.h"
+#include "vector3d.h"
+
+namespace irr
+{
+namespace core
+{
+
+//! 3D line between two points with intersection methods.
+template <class T>
+class line3d
+{
+	public:
+
+		//! Default constructor
+		/** line from (0,0,0) to (1,1,1) */
+		line3d() : start(0,0,0), end(1,1,1) {}
+		//! Constructor with two points
+		line3d(T xa, T ya, T za, T xb, T yb, T zb) : start(xa, ya, za), end(xb, yb, zb) {}
+		//! Constructor with two points as vectors
+		line3d(const vector3d<T>& start, const vector3d<T>& end) : start(start), end(end) {}
+
+		// operators
+
+		line3d<T> operator+(const vector3d<T>& point) const { return line3d<T>(start + point, end + point); }
+		line3d<T>& operator+=(const vector3d<T>& point) { start += point; end += point; return *this; }
+
+		line3d<T> operator-(const vector3d<T>& point) const { return line3d<T>(start - point, end - point); }
+		line3d<T>& operator-=(const vector3d<T>& point) { start -= point; end -= point; return *this; }
+
+		bool operator==(const line3d<T>& other) const
+		{ return (start==other.start && end==other.end) || (end==other.start && start==other.end);}
+		bool operator!=(const line3d<T>& other) const
+		{ return !(start==other.start && end==other.end) || (end==other.start && start==other.end);}
+
+		// functions
+		//! Set this line to a new line going through the two points.
+		void setLine(const T& xa, const T& ya, const T& za, const T& xb, const T& yb, const T& zb)
+		{start.set(xa, ya, za); end.set(xb, yb, zb);}
+		//! Set this line to a new line going through the two points.
+		void setLine(const vector3d<T>& nstart, const vector3d<T>& nend)
+		{start.set(nstart); end.set(nend);}
+		//! Set this line to new line given as parameter.
+		void setLine(const line3d<T>& line)
+		{start.set(line.start); end.set(line.end);}
+
+		//! Get length of line
+		/** \return Length of line. */
+		T getLength() const { return start.getDistanceFrom(end); }
+
+		//! Get squared length of line
+		/** \return Squared length of line. */
+		T getLengthSQ() const { return start.getDistanceFromSQ(end); }
+
+		//! Get middle of line
+		/** \return Center of line. */
+		vector3d<T> getMiddle() const
+		{
+			return (start + end)/(T)2;
+		}
+
+		//! Get vector of line
+		/** \return vector of line. */
+		vector3d<T> getVector() const
+		{
+			return end - start;
+		}
+
+		//! Check if the given point is between start and end of the line.
+		/** Assumes that the point is already somewhere on the line.
+		\param point The point to test.
+		\return True if point is on the line between start and end, else false.
+		*/
+		bool isPointBetweenStartAndEnd(const vector3d<T>& point) const
+		{
+			return point.isBetweenPoints(start, end);
+		}
+
+		//! Get the closest point on this line to a point
+		/** \param point The point to compare to.
+		\return The nearest point which is part of the line. */
+		vector3d<T> getClosestPoint(const vector3d<T>& point) const
+		{
+			vector3d<T> c = point - start;
+			vector3d<T> v = end - start;
+			T d = (T)v.getLength();
+			v /= d;
+			T t = v.dotProduct(c);
+
+			if (t < (T)0.0)
+				return start;
+			if (t > d)
+				return end;
+
+			v *= t;
+			return start + v;
+		}
+
+		//! Check if the line intersects with a sphere
+		/** \param sorigin: Origin of the sphere.
+		\param sradius: Radius of the sphere.
+		\param outdistance: The distance to the first intersection point.
+		\return True if there is an intersection.
+		If there is one, the distance to the first intersection point
+		is stored in outdistance. */
+		bool getIntersectionWithSphere(const vector3d<T>& sorigin, T sradius, f64& outdistance) const
+		{
+			const vector3d<T> q = sorigin - start;
+			T c = q.getLength();
+			T v = q.dotProduct(getVector().normalize());
+			T d = sradius * sradius - (c*c - v*v);
+
+			if (d < 0.0)
+				return false;
+
+			outdistance = v - core::squareroot ( d );
+			return true;
+		}
+
+		// member variables
+
+		//! Start point of line
+		vector3d<T> start;
+		//! End point of line
+		vector3d<T> end;
+};
+
+	//! Typedef for an f32 line.
+	typedef line3d<f32> line3df;
+	//! Typedef for an integer line.
+	typedef line3d<s32> line3di;
+
+} // end namespace core
+} // end namespace irr
+
+#endif
+