问题来自于《计算机图形学》p171。问题描述如下：
在考虑这个问题的解决方法之前先看一下如何求一条光线的反射光线：
我们规定向量a和n已经被归一化，那么r-a，如图4.13（b），r-a = 2 cos(theta) * n。cos(theta)即向量a和n的点积。故有
r=a-2(a*n)n
反射光线的问题解决了，接着来考虑怎么解决这道题。
思路首先是用每个多边形对这条射线进行一次Cyrus Beck算法，射线最先接触到哪条边就在哪条边反射。不多想，直接写，写出来后发现会出现这样的问题：
上图中，黑色的两个矩形是进行碰撞的物体，红色表示光线。蓝色线条是里面小矩形一条边的延长线，黄色的线是这条边的法向量。可以看到，实际上光线最终会碰撞到小矩形上面那条边所在的直线而进行反射。
解决这个问题嘛，只需要计算一下交点是否在这条边上即可。于是改程序，得到了现在的版本：
1 #include <GL/gl.h> 2 #include <GL/glu.h> 3 #include <GL/glut.h> 4 #include <iostream> 5 #include <vector> 6 #include <cmath> 7 using namespace std; 8 9 struct Point2D 10 { 11 float _x, _y; 12 Point2D() 13 { 14 _x = 0.0f; 15 _y = 0.0f; 16 } 17 Point2D(const Point2D& p) 18 { 19 _x = p._x; 20 _y = p._y; 21 } 22 Point2D(float xx, float yy) 23 { 24 _x = xx; 25 _y = yy; 26 } 27 Point2D operator=(const Point2D& p) 28 { 29 _x = p._x; 30 _y = p._y; 31 return *this; 32 } 33 Point2D operator+(const Point2D& p) 34 { 35 Point2D temp; 36 temp._x = _x + p._x; 37 temp._y = _y + p._y; 38 return temp; 39 } 40 Point2D operator-(const Point2D& p) 41 { 42 Point2D temp(_x - p._x, _y - p._y); 43 return temp; 44 } 45 float operator*(const Point2D& p) 46 { 47 return _x * p._x + _y * p._y; 48 } 49 50 Point2D operator*(const float k) 51 { 52 return Point2D(_x * k, _y * k); 53 } 54 55 float length() 56 { 57 return sqrtf(_x * _x + _y * _y); 58 } 59 60 Point2D Normalize() 61 { 62 float len = length(); 63 return Point2D(_x / len, _y / len); 64 } 65 66 void InverseDir() 67 { 68 _x = -_x; 69 _y = -_y; 70 } 71 72 void info() 73 { 74 cout << "(" << _x << ", " << _y << ")"; 75 } 76 }; 77 78 struct Line2D 79 { 80 Point2D _start; 81 Point2D _end; 82 float _length; 83 84 Line2D() : _start(), _end() 85 { 86 _length = 0.0f; 87 } 88 Line2D(const Point2D& start, const Point2D& end) : _start(start), _end(end) 89 {} 90 Line2D(const Line2D& line) : _start(line._start), _end(line._end) 91 {} 92 93 float length() 94 { 95 _length = (_end - _start).length(); 96 return _length; 97 } 98 99 Line2D operator = (const Line2D& line) 100 { 101 _start = line._start; 102 _end = line._end; 103 } 104 105 Point2D GetVector() 106 { 107 return _end - _start; 108 } 109 110 void info() 111 { 112 Point2D temp = GetVector(); 113 _start.info();cout << " ==> ";_end.info(); cout << " with lenth: " << length() << " and k: " << temp._y / temp._x << endl; 114 } 115 116 bool Have(Point2D& p) 117 { 118 cout << "Hit Point: ";p.info();cout << endl; 119 cout << "And Line: ";info(); cout << endl; 120 Point2D&& d = p - _start; 121 Point2D&& v = GetVector(); 122 123 float sx = d._x / v._x; 124 float sy = d._y / v._y; 125 cout << "Scale x, y: " << sx << ", " << sy << endl; 126 127 return (((sx >= 0.0f) && (sx <= 1.0f)) || ((sy >= 0.0f) && (sy <= 1.0f))); 128 } 129 }; 130 131 struct Rect 132 { 133 float _left; 134 float _right; 135 float _up; 136 float _down; 137 138 float width() 139 { 140 return _right - _left; 141 } 142 float height() 143 { 144 return _down - _up; 145 } 146 }; 147 148 struct Polygon 149 { 150 int _num;//Num of lines, not points 151 //Point2D* points; 152 //Point2D* norms; 153 vector<Point2D> points; 154 vector<Point2D> norms; 155 156 Polygon() 157 { 158 _num = 0; 159 } 160 Polygon(const vector<Point2D>& p) 161 { 162 Set(p); 163 } 164 ~Polygon() 165 { 166 Clear(); 167 } 168 169 void Clear() 170 { 171 /*if(points) 172 { 173 delete[] points; 174 points = nullptr; 175 } 176 177 if(norms) 178 { 179 delete[] norms; 180 norms = nullptr; 181 }*/ 182 points.clear(); 183 norms.clear(); 184 _num = 0; 185 } 186 187 void Set(const vector<Point2D>& p) 188 { 189 Clear(); 190 _num = p.size(); 191 points.resize(_num); 192 norms.resize(_num); 193 //points = new Point2D[_num]; 194 for(int i = 0; i < _num; ++i) 195 points[i] = p[i]; 196 197 //norms = new Point2D[_num]; 198 ComputeNormals(); 199 } 200 201 Line2D GetLine(int index) 202 { 203 Line2D temp; 204 if(index >= 0 && index < _num - 1) 205 { 206 temp._start = points[index]; 207 temp._end = points[index + 1]; 208 } 209 else if(index == _num - 1) 210 { 211 temp._start = points[index]; 212 temp._end = points[0]; 213 } 214 215 return temp; 216 } 217 218 Point2D GetNormal(int index) 219 { 220 Point2D temp; 221 if(index >= 0 && index < _num) 222 { 223 temp = norms[index]; 224 } 225 return temp; 226 } 227 228 void ComputeNormals() 229 { 230 for(int i = 0; i < _num; ++i) 231 { 232 Line2D now = GetLine(i); 233 Line2D next; 234 if(i == _num - 1) 235 next = GetLine(0); 236 else 237 next = GetLine(i + 1); 238 239 Point2D v = now.GetVector(); 240 Point2D vn = next.GetVector(); 241 Point2D norm; 242 if(v._x != 0) 243 { 244 norm._y = 1; 245 norm._x = (-v._y) / v._x; 246 } 247 else//x and y couldn't be zero at same time 248 { 249 norm._x = 1; 250 norm._y = (-v._x) / v._y; 251 } 252 253 if(norm * vn > 0) 254 norm.InverseDir(); 255 norms[i] = norm.Normalize(); 256 } 257 } 258 259 Point2D GetPoint(int index) 260 { 261 Point2D temp; 262 if(index >= 0 && index < _num) 263 temp = points[index]; 264 return temp; 265 } 266 }; 267 268 /* 269 Global Varibles 270 */ 271 const int SCREEN_WIDTH = 800; 272 const int SCREEN_HEIGHT = 600; 273 Point2D g_Start; 274 Point2D g_End; 275 Line2D src; 276 Line2D dest; 277 bool acc; 278 bool buildpoly = true; 279 bool buildenv = true; 280 int g_Count; 281 std::vector<Point2D> g_V;//for build poly 282 std::vector<Polygon> g_Polys; 283 std::vector<Line2D> g_Lines; 284 285 int Cyrus_Beck(Line2D& src, Line2D& dest, Polygon& poly) 286 { 287 float tin = 0.0f, tout = 99999.0f; 288 Point2D&& vec = src.GetVector(); 289 290 for(int i = 0; i < poly._num; ++i) 291 { 292 Line2D&& line = poly.GetLine(i); 293 Point2D&& norm = poly.GetNormal(i); 294 float nc = vec * norm; 295 if(nc == 0) 296 continue; 297 else 298 { 299 float hit = (line._start - src._start) * norm / nc; 300 if(nc > 0)//out 301 tout = min(tout, hit); 302 else 303 tin = max(tin, hit); 304 } 305 } 306 307 if(tin <= tout) 308 { 309 dest._start = src._start + vec * tin; 310 dest._end = src._start + vec * tout; 311 } 312 313 return tin > tout; 314 } 315 316 int Cyrus_Beck_2(Line2D& src, Line2D& dest, Polygon& poly, float& tout, int& outline) 317 { 318 dest._start = src._start; 319 tout = 99999.0f; 320 Point2D&& vec = src.GetVector(); 321 322 for(int i = 0; i < poly._num; ++i) 323 { 324 Line2D&& line = poly.GetLine(i); 325 Point2D&& norm = poly.GetNormal(i); 326 float nc = vec * norm; 327 if(nc == 0.0f) 328 continue; 329 else 330 { 331 float hit = (line._start - src._start) * norm / nc; 332 cout << "hit: " << hit; 333 if(hit < tout && hit > 0.00001f) 334 { 335 Point2D&& HitPoint = src._start + vec * hit; 336 if(line.Have(HitPoint)) 337 { 338 tout = hit; 339 outline = i; 340 cout << "And On the line."; 341 } 342 } 343 cout << endl; 344 /*if(nc > 0)//out 345 { 346 if(hit < tout) 347 { 348 tout = hit; 349 outline = i; 350 } 351 } 352 else 353 { 354 if(hit < tout) 355 { 356 tout = hit; 357 outline = i; 358 } 359 }*/ 360 } 361 } 362 cout << "-----------tout: " << tout << endl; 363 if(tout > 0.0f) 364 { 365 dest._end = src._start + vec * tout; 366 } 367 368 return tout < 0.0f; 369 } 370 371 void myInit() 372 { 373 /* 374 Output Info 375 */ 376 g_Count = 0; 377 acc = false; 378 379 //glClearColor((float)0x66 / 0x100, (float)0xcc / 0x100, 1.0, 0.0); 380 glClearColor(0.0, 0.0, 0.0, 0.0); 381 glColor3f(0.0f, 0.0f, 0.0f);//Map Color Black 382 glPointSize(1.0); 383 glMatrixMode(GL_PROJECTION); 384 385 glLoadIdentity(); 386 gluOrtho2D(0.0, (GLdouble)SCREEN_WIDTH, (GLdouble)SCREEN_HEIGHT, 0.0); 387 glViewport(0.0, SCREEN_WIDTH, 0.0, SCREEN_HEIGHT); 388 } 389 390 void myMouse(int button, int state, int x, int y) 391 { 392 if(buildenv) 393 { 394 if(buildpoly) 395 { 396 if(button == GLUT_RIGHT_BUTTON && state == GLUT_DOWN) 397 { 398 //build over 399 cout << "building polys...\n" << "now we have " << g_V.size() << " points in list.\n" << endl; 400 if(g_V.size() >= 3) 401 { 402 g_Polys.emplace_back(g_V); 403 cout << "Build " << g_Polys.size() << "th with " << g_V.size() << " points." << endl; 404 } 405 else 406 { 407 cout << "Points doesn't enough!" << endl; 408 } 409 g_V.clear(); 410 buildpoly = false; 411 cout << "Build " << g_Polys.size() << "th Poly Over." << endl; 412 glutPostRedisplay(); 413 } 414 if(button == GLUT_LEFT_BUTTON && state == GLUT_DOWN) 415 { 416 g_V.emplace_back(x, y); 417 cout << "Add " << g_V.size() << "th Point: (" << x << ", " << y << ")." << endl; 418 glutPostRedisplay(); 419 } 420 } 421 else 422 { 423 if(button == GLUT_RIGHT_BUTTON && state == GLUT_DOWN) 424 { 425 //build over 426 buildenv = false; 427 cout << "Build Env Over." << endl; 428 cout << "Please Choose Start Point of Ray." << endl; 429 } 430 if(button == GLUT_LEFT_BUTTON && state == GLUT_DOWN) 431 { 432 //continue build 433 cout << "Start Build " << g_Polys.size() + 1 << "th Poly." << endl; 434 buildpoly = true; 435 g_V.clear(); 436 } 437 } 438 return; 439 } 440 441 442 if(button == GLUT_RIGHT_BUTTON && state == GLUT_DOWN) 443 { 444 buildpoly = true; 445 g_Count = 0; 446 g_Lines.clear(); 447 glutPostRedisplay(); 448 449 cout << "\nNow Reset the Ray." << endl; 450 cout << "Please Choose Start Point of Ray." << endl; 451 return; 452 } 453 454 if(button != GLUT_LEFT_BUTTON || state != GLUT_DOWN) 455 return; 456 457 458 switch(g_Count) 459 { 460 case 0: 461 { 462 ++g_Count; 463 g_Start._x = x; 464 g_Start._y = y; 465 src._start = g_Start; 466 cout << "Set Ray Start at (" << x << ", " << y << ")." << endl; 467 cout << "\nPlease Choose the Direction of Ray." << endl; 468 }break; 469 case 1: 470 { 471 ++g_Count; 472 g_End._x = x; 473 g_End._y = y; 474 src._end = g_End; 475 cout << "Set Ray dir at (" << x << ", " << y << ")." << endl; 476 g_Lines.emplace_back(src); 477 cout << "\nSet Ray Done.\nClick to run." << endl; 478 479 glutPostRedisplay(); 480 }break; 481 case 2: 482 { 483 cout << "\n===================================================\nReflecting..." << endl; 484 src = g_Lines[g_Lines.size() - 1]; 485 int polyid = -1; 486 int lineid = -1; 487 float tout = 99998.0f; 488 Line2D tdest; 489 for(int i = 0; i < g_Polys.size(); ++i) 490 { 491 int tempid; 492 float tmpout; 493 acc = !Cyrus_Beck_2(src, dest, g_Polys[i], tmpout, tempid); 494 if(acc && tmpout < tout) 495 { 496 lineid = tempid; 497 tout = tmpout; 498 polyid = i; 499 tdest = dest; 500 } 501 } 502 if((polyid != -1) && (lineid != -1)) 503 { 504 cout << "Collide " << polyid << " polyon, with " << lineid << "th line." << endl; 505 Point2D a = src.GetVector().Normalize(); 506 Point2D n = g_Polys[polyid].GetNormal(lineid); 507 if(n * a > 0) 508 n.InverseDir(); 509 float c = (a * n) * 2; 510 Point2D ap = a - n * c; 511 g_Lines[g_Lines.size() - 1] = tdest; 512 //cout << "Dest Line: (" << tdest._start._x << ", " << tdest._start._y << ") ==> (" << tdest._end._x << ", " << tdest._end._y << ")." << endl; 513 cout << "Dest Line: ";tdest.info();cout << endl; 514 g_Lines.emplace_back(tdest._end, tdest._end + ap * 20); 515 //cout << "And Get a reflect ray: (" << g_Lines[g_Lines.size() - 1]._start._x << ", " << g_Lines[g_Lines.size() - 1]._start._y << ") ==> (" << g_Lines[g_Lines.size() - 1]._end._x << ", " << g_Lines[g_Lines.size() - 1]._end._y << ")." << endl; 516 //cout << "Now Line Size: " << g_Lines.size() << endl; 517 cout << "And Get a reflect ray: "; g_Lines[g_Lines.size() - 1].info();cout << endl; 518 glutPostRedisplay(); 519 } 520 else 521 { 522 cout << "Cannot Hit Any Polygon!!" << endl; 523 } 524 }break; 525 } 526 } 527 528 void myDisplay() 529 { 530 glClear(GL_COLOR_BUFFER_BIT); 531 532 Point2D temp; 533 534 535 //if(g_Polys.size() > 0) 536 // cout << "Draw Polys. Vector[0]_start_x address: " << &g_Polys[0].points[0]._x << " And values: " << g_Polys[0].points[0]._x << endl; 537 //for(auto it : g_Polys) 538 for(auto it = g_Polys.begin(); it < g_Polys.end(); ++it) 539 { 540 glColor3f(1.0f, 1.0f, 1.0f);//Poly 541 glPointSize(3.0); 542 glBegin(GL_LINE_STRIP); 543 for(int i = 0; i < it->_num; ++i) 544 { 545 temp = it->GetPoint(i); 546 glVertex2d(temp._x, temp._y); 547 // cout << "Draw at " << temp._x << ", " << temp._y << endl; 548 } 549 temp = it->GetPoint(0); 550 glVertex2d(temp._x, temp._y); 551 glEnd(); 552 553 //draw norms 554 glBegin(GL_LINES); 555 glColor3f(1.0f, 1.0f, 0.0f); 556 for(int i = 0; i < it->_num; ++i) 557 { 558 Line2D l = it->GetLine(i); 559 Point2D center = l.GetVector() * 0.5 + l._start; 560 temp = it->GetNormal(i) * 20; 561 glVertex2d(center._x, center._y); 562 glVertex2d(center._x + temp._x, center._y + temp._y); 563 // cout << "Draw at " << temp._x << ", " << temp._y << endl; 564 } 565 glEnd(); 566 567 } 568 569 570 //if(g_Polys.size() > 0) 571 // cout << "Draw Polys Over." << endl; 572 573 574 if(buildpoly && g_V.size() > 1) 575 { 576 glColor3f(1.0f, 1.0f, 1.0f);//Poly 577 glPointSize(3.0); 578 // cout << "Draw building poly." << endl; 579 glBegin(GL_LINE_STRIP); 580 581 for(int i = 0; i < g_V.size(); ++i) 582 glVertex2d(g_V[i]._x, g_V[i]._y); 583 584 glEnd(); 585 // cout << "Draw building poly Over." << endl; 586 } 587 588 if(g_Count == 2) 589 { 590 //Draw Line 591 // cout << "Draw Lines." << endl; 592 glColor3f(1.0f, 0.0f, 0.0f);//Ray, Red 593 glPointSize(2.0); 594 glBegin(GL_LINES); 595 /*for(auto it : g_Lines) 596 { 597 glVertex2d(it._start._x, it._start._y); 598 glVertex2d(it._end._x, it._end._y); 599 }*/ 600 /*for(auto it = g_Lines.begin(); it < g_Lines.end(); ++it) 601 { 602 glVertex2d(it->_start._x, it->_start._y); 603 glVertex2d(it->_end._x, it->_end._y); 604 //cout << "Dest Line: (" << it->_start._x << ", " << it->_start._y << ") ==> (" << it->_end._x << ", " << it->_end._y << ")." << endl; 605 }*/ 606 int size = g_Lines.size() - 1; 607 for(int i = 0; i < size; ++i) 608 { 609 glVertex2d(g_Lines[i]._start._x, g_Lines[i]._start._y); 610 glVertex2d(g_Lines[i]._end._x, g_Lines[i]._end._y); 611 //cout << "Dest Line: (" << it->_start._x << ", " << it->_start._y << ") ==> (" << it->_end._x << ", " << it->_end._y << ")." << endl; 612 } 613 glColor3f(0.0f, 1.0f, 0.0f);//Next Ray Dir, Green 614 glVertex2d(g_Lines[size]._start._x, g_Lines[size]._start._y); 615 glVertex2d(g_Lines[size]._end._x, g_Lines[size]._end._y); 616 617 // cout << "Draw Lines Over." << endl; 618 619 glEnd(); 620 } 621 622 623 glutSwapBuffers(); 624 //cout << "Before flush" << endl; 625 //glFlush(); 626 //cout << "Render Over" << endl; 627 } 628 629 int main(int argc, char* argv[]) 630 { 631 glutInit(&argc, argv); 632 glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB); 633 //glutInitDisplayMode(GLUT_SINGLE | GLUT_RGB); 634 glutInitWindowSize(SCREEN_WIDTH, SCREEN_HEIGHT); 635 glutInitWindowPosition(20, 20); 636 glutCreateWindow("Cyrus_Beck"); 637 glutDisplayFunc(myDisplay); 638 glutMouseFunc(myMouse); 639 640 myInit(); 641 glutMainLoop(); 642 643 return 0; 644 }
核心代码在Cyrus_Beck2函数中有一点，剩下主要在myMouse函数中switch语句的case 2中：
src = g_Lines[g_Lines.size() - 1]; int polyid = -1; int lineid = -1; float tout = 99998.0f; Line2D tdest; for(int i = 0; i < g_Polys.size(); ++i) { int tempid; float tmpout; acc = !Cyrus_Beck_2(src, dest, g_Polys[i], tmpout, tempid); if(acc && tmpout < tout) { lineid = tempid; tout = tmpout; polyid = i; tdest = dest; } } if((polyid != -1) && (lineid != -1)) { cout << "Collide " << polyid << " polyon, with " << lineid << "th line." << endl; Point2D a = src.GetVector().Normalize(); Point2D n = g_Polys[polyid].GetNormal(lineid); if(n * a > 0) n.InverseDir(); float c = (a * n) * 2; Point2D ap = a - n * c; g_Lines[g_Lines.size() - 1] = tdest; //cout << "Dest Line: (" << tdest._start._x << ", " << tdest._start._y << ") ==> (" << tdest._end._x << ", " << tdest._end._y << ")." << endl; cout << "Dest Line: ";tdest.info();cout << endl; g_Lines.emplace_back(tdest._end, tdest._end + ap * 20); //cout << "And Get a reflect ray: (" << g_Lines[g_Lines.size() - 1]._start._x << ", " << g_Lines[g_Lines.size() - 1]._start._y << ") ==> (" << g_Lines[g_Lines.size() - 1]._end._x << ", " << g_Lines[g_Lines.size() - 1]._end._y << ")." << endl; //cout << "Now Line Size: " << g_Lines.size() << endl; cout << "And Get a reflect ray: "; g_Lines[g_Lines.size() - 1].info();cout << endl; glutPostRedisplay(); } else { cout << "Cannot Hit Any Polygon!!" << endl; }
这里不断调用Cyrus_Beck2计算射线与每个多边形的相交的tout并记录碰撞的是哪条边，最后选择最小的一个就是碰撞的边界并计算反射光线。
代码剩下的部分主要是OpenGL的东西，程序运行后，不断点击鼠标左键来构建一个多边形，点击右键完成当前多边形的构建，接着可以点击左键继续构建多边形或点击右键完成所有多边形的构建。完成所有多边形的构建后，可以点击两次鼠标来确定一条光线的起点和它的方向，之后不断点击左键进行反射或点击右键重新设定一条光线。
运行效果如下（白色为碰撞体，黄色为每条边的法线，红色是光线，绿色是当前反射光的方向）：
模拟光线在光纤中的传播
最后，实际上还有一些“小问题”，比如：
光线如果正好射到某个顶点上会发生什么？这种巧事我还真遇上了，按照我的代码，光线会直接射出去。但是现实中应该是怎样呢？
还有就是代码中浮点数的问题，在Cyrus_Beck_2函数中有这么一句：if(hit < tout && hit > 0.00001f){……}。因为当hit为0的时候碰撞到的实际上是现在他所在的那面墙。可是如果在他的面前有一堵跟她距离小于0.00001f的墙的时候，他就会无视这堵墙。可由于浮点数的精度问题我们不能写成if(hit < tout && hit > 0.0f){……}。这样的问题代码中还有好多处。大家如果有解决的办法请务必赐教。
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