! Copyright (C) 2007, 2008 Alex Chapman
! See http://factorcode.org/license.txt for BSD license.
-USING: accessors arrays colors combinators fry jamshred.oint
-kernel literals locals math math.constants math.matrices
-math.order math.quadratic math.ranges math.vectors random
-sequences specialized-arrays vectors ;
+USING: accessors alien.c-types colors combinators jamshred.oint
+kernel literals math math.constants math.order math.quadratic
+math.vectors random sequences specialized-arrays vectors ;
FROM: jamshred.oint => distance ;
FROM: alien.c-types => float ;
SPECIALIZED-ARRAY: float
: heading-segment ( segments current-segment heading -- segment )
! the next segment on the given heading
- over forward>> v. 0 <=> {
+ over forward>> vdot 0 <=> {
{ +gt+ [ next-segment ] }
{ +lt+ [ previous-segment ] }
{ +eq+ [ nip ] } ! current segment
:: distance-to-next-segment ( current next location heading -- distance )
current forward>> :> cf
- cf next location>> v. cf location v. - cf heading v. / ;
+ cf next location>> vdot cf location vdot - cf heading vdot / ;
:: distance-to-next-segment-area ( current next location heading -- distance )
current forward>> :> cf
next current half-way-between-oints :> h
- cf h v. cf location v. - cf heading v. / ;
+ cf h vdot cf location vdot - cf heading vdot / ;
-: vector-to-centre ( seg loc -- v )
+: vector-to-center ( seg loc -- v )
over location>> swap v- swap forward>> proj-perp ;
-: distance-from-centre ( seg loc -- distance )
- vector-to-centre norm ;
+: distance-from-center ( seg loc -- distance )
+ vector-to-center norm ;
: wall-normal ( seg oint -- n )
- location>> vector-to-centre normalize ;
+ location>> vector-to-center normalize ;
CONSTANT: distant 1000
v norm 0 = [
distant
] [
- v dup v. :> a
- v w v. 2 * :> b
- w dup v. r sq - :> c
+ v dup vdot :> a
+ v w vdot 2 * :> b
+ w dup vdot r sq - :> c
c b a quadratic max-real
] if ;