n_3d.c

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/*
 * Nilorea Library
 * Copyright (C) 2005-2026 Castagnier Mickael
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
 * implied. See the License for the specific language governing
 * permissions and limitations under the License.
 *
 * SPDX-License-Identifier: Apache-2.0
 */
 
#include "nilorea/n_3d.h"
#include "math.h"
 
double distance(VECTOR3D* p1, VECTOR3D* p2) {
    return sqrt(((*p1)[0] - (*p2)[0]) * ((*p1)[0] - (*p2)[0]) +
                ((*p1)[1] - (*p2)[1]) * ((*p1)[1] - (*p2)[1]) +
                ((*p1)[2] - (*p2)[2]) * ((*p1)[2] - (*p2)[2]));
} /* distance(...) */
 
int update_physics_position_nb(PHYSICS* object, int it, double delta_t) {
    __n_assert(object, return FALSE);
 
    object->speed[it] = object->speed[it] + (object->acceleration[it] * delta_t) / 1000000.0;
    object->position[it] = object->position[it] + (object->speed[it] * delta_t) / 1000000.0 + (object->acceleration[it] * (delta_t / 1000000.0) * (delta_t / 1000000.0)) / 2.0;
    object->angular_speed[it] = object->angular_speed[it] + (object->angular_acceleration[it] * delta_t) / 1000000.0;
    object->speed[it] = object->speed[it] + (object->gravity[it] * delta_t) / 1000000.0;
 
    return TRUE;
} /* update_physics_position_nb(...) */
 
int update_physics_position_reverse_nb(PHYSICS* object, int it, double delta_t) {
    __n_assert(object, return FALSE);
 
    object->position[it] = object->position[it] - ((object->speed[it] * delta_t) / 1000000.0 + (object->acceleration[it] * (delta_t / 1000000.0) * (delta_t / 1000000.0)) / 2.0);
    object->speed[it] = object->speed[it] - (object->acceleration[it] * delta_t) / 1000000.0;
    object->angular_speed[it] = object->angular_speed[it] - (object->angular_acceleration[it] * delta_t) / 1000000.0;
 
    return TRUE;
} /* update_physics_position_reverse_nb */
 
int update_physics_position_reverse(PHYSICS* object, double delta_t) {
    __n_assert(object, return FALSE);
    for (int it = 0; it < 3; it++) {
        object->speed[it] = -object->speed[it];
        object->acceleration[it] = -object->acceleration[it];
        object->angular_speed[it] = -object->angular_speed[it];
 
        update_physics_position_nb(object, it, delta_t);
 
        object->speed[it] = -object->speed[it];
        object->acceleration[it] = -object->acceleration[it];
        object->angular_speed[it] = -object->angular_speed[it];
    }
    return TRUE;
} /* update_physics_position_reverse(...) */
 
int update_physics_position(PHYSICS* object, double delta_t) {
    __n_assert(object, return FALSE);
    object->delta_t = (time_t)delta_t;
    for (int it = 0; it < 3; it++) {
        update_physics_position_nb(object, it, delta_t);
    }
    return TRUE;
}
 
static int same_sign(double a, double b) {
    return ((a * b) >= 0);
} /* same_sign(...) */
 
int vector_intersect(VECTOR3D* p1, VECTOR3D* p2, VECTOR3D* p3, VECTOR3D* p4, VECTOR3D* px) {
    double a1 = 0, a2 = 0, b1 = 0, b2 = 0, c1 = 0, c2 = 0,
           r1 = 0, r2 = 0, r3 = 0, r4 = 0,
           denom = 0, offset = 0, num = 0;
 
    /* Compute a1, b1, c1, where line joining points 1 and 2 is
       "a1 x + b1 y + c1 = 0". */
    a1 = (*p2)[1] - (*p1)[1];
    b1 = (*p1)[0] - (*p2)[0];
    c1 = ((*p2)[0] * (*p1)[1]) - ((*p1)[0] * (*p2)[1]);
 
    /* Compute r3 and r4. */
    r3 = ((a1 * (*p3)[0]) + (b1 * (*p3)[1]) + c1);
    r4 = ((a1 * (*p4)[0]) + (b1 * (*p4)[1]) + c1);
 
    /* Check signs of r3 and r4. If both point 3 and point 4 lie on
       same side of line 1, the line segments do not intersect. */
    if ((r3 != 0) && (r4 != 0) && same_sign(r3, r4)) {
        return VECTOR3D_DONT_INTERSECT;
    }
 
    /* Compute a2, b2, c2 */
    a2 = (*p4)[1] - (*p3)[1];
    b2 = (*p3)[0] - (*p4)[0];
    c2 = ((*p4)[0] * (*p3)[1]) - ((*p3)[0] * (*p4)[1]);
 
    /* Compute r1 and r2 */
    r1 = (a2 * (*p1)[0]) + (b2 * (*p1)[1]) + c2;
    r2 = (a2 * (*p2)[0]) + (b2 * (*p2)[1]) + c2;
 
    /* Check signs of r1 and r2. If both point 1 and point 2 lie
       on same side of second line segment, the line segments do
       not intersect. */
    if ((r1 != 0) && (r2 != 0) && same_sign(r1, r2)) {
        return VECTOR3D_DONT_INTERSECT;
    }
 
    /* Line segments intersect: compute intersection point. */
    denom = (a1 * b2) - (a2 * b1);
 
    if (denom == 0) {
        return VECTOR3D_COLLINEAR;
    }
 
    if (denom < 0) {
        offset = -denom / 2;
    } else {
        offset = denom / 2;
    }
 
    /* The denom/2 is to get rounding instead of truncating. It
       is added or subtracted to the numerator, depending upon the
       sign of the numerator. */
    num = (b1 * c2) - (b2 * c1);
    if (num < 0) {
        (*px)[0] = (num - offset) / denom;
    } else {
        (*px)[0] = (num + offset) / denom;
    }
 
    num = (a2 * c1) - (a1 * c2);
    if (num < 0) {
        (*px)[1] = (num - offset) / denom;
    } else {
        (*px)[1] = (num + offset) / denom;
    }
 
    /* lines_intersect */
    return VECTOR3D_DO_INTERSECT;
} /* vector_intersect(...) */
 
double vector_dot_product(VECTOR3D* vec1, VECTOR3D* vec2) {
    return (*vec1)[0] * (*vec2)[0] + (*vec1)[1] * (*vec2)[1] + (*vec1)[2] * (*vec2)[2];
} /* vector_dot_product(...) */
 
double vector_normalize(VECTOR3D* vec) {
    double res = 0.0;
    for (int i = 0; i < 3; i++) {
        res += pow((*vec)[i], 2);
    }
    return sqrt(res);
} /* vector_normalize(...) */
 
double vector_angle_between(VECTOR3D* vec1, VECTOR3D* vec2) {
    double norm = vector_normalize(vec1) * vector_normalize(vec2);
    if (norm == 0.0) return 0.0;
    return acos(vector_dot_product(vec1, vec2) / norm);
} /* vector_angle_between( ... ) */