Cynopolis/SLAM-Sim
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Refactored the ray class to have its interesections work more consistently.

Browse Source
This commit is contained in:
Quinn
2023-04-30 19:17:41 -05:00
parent 527615220f
commit 9b0acbe34c
6 changed files with 108 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files

37
src/Ray.java
View File

@@ -7,6 +7,7 @@ import static processing.core.PApplet.*;
public class Ray extends Line{
float maxRayDistance = 1000;
int[] color = new int[]{255, 255, 255};
//takes the starting position of the ray, the length of the ray, and it's casting angle (radians)
Ray(Vector startPosition, float angle){
super(startPosition, startPosition.add(new Vector(cos(angle), sin(angle))));
@@ -14,32 +15,42 @@ public class Ray extends Line{
}
public void drawRay(PApplet proc){
proc.line(position.x, position.y, position.add(direction).x, position.add(direction).y);
proc.stroke(color[0], color[1], color[2]);
proc.line(position.x, position.y, position.x + direction.x, position.y + direction.y);
// proc.noFill();
// proc.circle(position.x, position.y, 2*direction.mag());
// proc.fill(255);
}
//checks to see at what coordinate the ray will collide with an object and sets the ray length to meet that point.
public void castRay(ArrayList<Wall> walls){
float shortestWallDistance = maxRayDistance;
int[] newColor = new int[]{255, 255, 255};
for(Wall wall : walls){
Vector rayLine = this.getSlopeIntForm(); // stored as x:m, y:b
Vector wallLine = wall.getSlopeIntForm(); // m, b
// find the point where they intersect
float x = (wallLine.y - rayLine.y) / (rayLine.x - wallLine.x);
float y = rayLine.x * x + rayLine.y;
Vector intersect = new Vector(x, y);
// get the necessary vectors for two parameterized lines
// parameterized lines are of the form L = d*t + p
Vector d1 = this.direction.normalize().mul(maxRayDistance);
Vector d2 = wall.direction;
Vector p1 = this.position;
Vector p2 = wall.position;
// if the intersect doesn't actually lie on the wallLine, go to the next wall
float distAlongLine = intersect.sub(wall.getPosition()).mag();
float angleFromLine = wall.direction.angleDiff(intersect.sub(wall.position));
if(distAlongLine > wall.getLength() && abs(angleFromLine) < 5*PI/180){
// calculate the parameters for the intersection t and u
float t = -(d2.x*(p2.y-p1.y) + d2.y*(p1.x-p2.x))/(d1.x*d2.y - d2.x*d1.y);
float u = -(d1.x*(p2.y-p1.y) + d1.y*(p1.x-p2.x))/(d1.x*d2.y-d2.x*d1.y);
// the lines will only be intersecting when both t and u are between 0 and 1.
if(!(0 <= t && t <= 1 && 0 <= u && u <= 1)){
continue;
}
// if the distance from the ray to the intersection is shorter than the shortestWallDistance, this is our new closest wall
float distance = this.position.sub(intersect).mag();
float distance = d1.mul(t).add(p1).sub(this.position).mag();
if(distance < shortestWallDistance){
shortestWallDistance = distance;
newColor = new int[]{wall.r, wall.g, wall.b};
}
}
@@ -47,9 +58,11 @@ public class Ray extends Line{
// if we collided with a wall, set the ray's length to the distance from it to the collision
if(shortestWallDistance != maxRayDistance){
this.direction = this.direction.normalize().mul(shortestWallDistance);
this.color = newColor;
}
else{
this.direction = this.direction.normalize().mul(maxRayDistance);
this.color = new int[]{255, 255, 255};
}
}