bool IntrLine3Box3<Real>::DoClipping ( Real t0, Real t1,
const Vector3<Real>& origin, const Vector3<Real>& direction,
const Box3<Real>& box, bool solid, int& quantity, Vector3<Real> point[2],
int& intrType )
{
// Convert linear component to box coordinates.
Vector3<Real> diff = origin - box.Center;
Vector3<Real> BOrigin(
diff.Dot( box.Axis[0] ),
diff.Dot( box.Axis[1] ),
diff.Dot( box.Axis[2] )
);
Vector3<Real> BDirection(
direction.Dot( box.Axis[0] ),
direction.Dot( box.Axis[1] ),
direction.Dot( box.Axis[2] )
);
Real saveT0 = t0, saveT1 = t1;
bool notAllClipped =
Clip( +BDirection.X(), -BOrigin.X() - box.Extent[0], t0, t1 ) &&
Clip( -BDirection.X(), +BOrigin.X() - box.Extent[0], t0, t1 ) &&
Clip( +BDirection.Y(), -BOrigin.Y() - box.Extent[1], t0, t1 ) &&
Clip( -BDirection.Y(), +BOrigin.Y() - box.Extent[1], t0, t1 ) &&
Clip( +BDirection.Z(), -BOrigin.Z() - box.Extent[2], t0, t1 ) &&
Clip( -BDirection.Z(), +BOrigin.Z() - box.Extent[2], t0, t1 );
if ( notAllClipped && ( solid || t0 != saveT0 || t1 != saveT1 ) )
{
if ( t1 > t0 )
{
intrType = IT_SEGMENT;
quantity = 2;
point[0] = origin + t0 * direction;
point[1] = origin + t1 * direction;
}
else
{
intrType = IT_POINT;
quantity = 1;
point[0] = origin + t0 * direction;
}
}
else
{
quantity = 0;
intrType = IT_EMPTY;
}
return intrType != IT_EMPTY;
}
Bool HawkLine3D::Intersect(const HawkOBB& oBox,Vec3IntrResult* pResult) const
{
const HawkVector3D* Axis = oBox.GetAxis();
HawkVector3D diff = Point - oBox.Center;
HawkVector3D BOrigin(
diff.DotProduct(Axis[0]),
diff.DotProduct(Axis[1]),
diff.DotProduct(Axis[2])
);
HawkVector3D BDirection(
Direction.DotProduct(Axis[0]),
Direction.DotProduct(Axis[1]),
Direction.DotProduct(Axis[2])
);
Float t0 = -FLT_MAX,t1 = FLT_MAX;
bool notAllClipped =
geoClip(+BDirection.X, -BOrigin.X-oBox.Extent[0], t0, t1) &&
geoClip(-BDirection.X, +BOrigin.X-oBox.Extent[0], t0, t1) &&
geoClip(+BDirection.Y, -BOrigin.Y-oBox.Extent[1], t0, t1) &&
geoClip(-BDirection.Y, +BOrigin.Y-oBox.Extent[1], t0, t1) &&
geoClip(+BDirection.Z, -BOrigin.Z-oBox.Extent[2], t0, t1) &&
geoClip(-BDirection.Z, +BOrigin.Z-oBox.Extent[2], t0, t1);
if (notAllClipped)
{
//2交点
if (t1 > t0)
{
if (pResult)
{
pResult->Factor = HawkMath::Abs<Float>(t0) < HawkMath::Abs<Float>(t1)? t0 : t1;
pResult->Point = Point + Direction * pResult->Factor;
}
return true;
}
//1交点
else
{
if (pResult)
{
pResult->Factor = t0;
pResult->Point = Point + Direction * pResult->Factor;
}
return true;
}
}
return false;
}
/**
* @brief intersect a geometric object.
* @param ray_ the ray
* @param p_diff_geom_ the result of the intersection
* @return true if the ray intersects the geometry. Modifies the ray_.max_t() value, intersect only if the intersection
* is before ray_.max_t()
* @todo Factorize code shared by Box3D::clip()
*
* Adapted from http://www.geometrictools.com/LibMathematics/Intersection/Wm5IntrLine3Box3.cpp
*/
bool intersect (Ray& ray_, Diff_Geom * p_diff_geom_) const {
float t0 = -ray_.ray_epsilon();
float t1 = ray_.max_t();
// Convert linear component to box coordinates.
Vector3D diff = ray_.ori() - m_center;
Vector3D BOrigin(
diff.dot(m_axis[0]),
diff.dot(m_axis[1]),
diff.dot(m_axis[2])
);
Vector3D BDirection(
ray_.dir().dot(m_axis[0]),
ray_.dir().dot(m_axis[1]),
ray_.dir().dot(m_axis[2])
);
float saveT0 = t0, saveT1 = t1;
bool notAllClipped;
unsigned char updated;
int nt0, nt1;
notAllClipped = clip(+BDirection.x(), -BOrigin.x()-m_extent[0], t0, t1, updated);
if (updated == 1)
nt0 = 0;
else if (updated == 2)
nt1 = 0;
notAllClipped = notAllClipped && clip(-BDirection.x(), +BOrigin.x()-m_extent[0], t0, t1, updated);
if (updated == 1)
nt0 = 1;
else if (updated == 2)
nt1 = 1;
notAllClipped = notAllClipped && clip(+BDirection.y(), -BOrigin.y()-m_extent[1], t0, t1, updated);
if (updated == 1)
nt0 = 2;
else if (updated == 2)
nt1 = 2;
notAllClipped = notAllClipped && clip(-BDirection.y(), +BOrigin.y()-m_extent[1], t0, t1, updated);
if (updated == 1)
nt0 = 3;
else if (updated == 2)
nt1 = 3;
notAllClipped = notAllClipped && clip(+BDirection.z(), -BOrigin.z()-m_extent[2], t0, t1, updated);
if (updated == 1)
nt0 = 4;
else if (updated == 2)
nt1 = 4;
notAllClipped = notAllClipped && clip(-BDirection.z(), +BOrigin.z()-m_extent[2], t0, t1, updated);
if (updated == 1)
nt0 = 5;
else if (updated == 2)
nt1 = 5;
if (notAllClipped && (t0 != saveT0 || t1 != saveT1)) {
if ( (t0 > ray_.ray_epsilon() ) && (t0 < ray_.max_t()) ){
Vector3D normal = m_axis[nt0/2];
if (nt0%2)
normal = -normal;
p_diff_geom_->set_pos(ray_.at(t0));
p_diff_geom_->set_normal(normal);
p_diff_geom_->set_t(t0);
ray_.set_max_t(t0);
return true;
} else if ( (t1 > ray_.ray_epsilon()) && (t1 < ray_.max_t()) ){
Vector3D normal = m_axis[nt1/2];
if (nt1%2)
normal = -normal;
p_diff_geom_->set_pos(ray_.at(t1));
p_diff_geom_->set_normal(normal);
p_diff_geom_->set_t(t1);
ray_.set_max_t(t1);
return true;
} else
return false;
} else {
return false;
}
}
/**
* @brief clip a ray by a Box3D.
* @param ray_ the ray to clip
* @param bounds ray sorted bounds of the resulting clipping segment.
* @return true if ray was clipped. bounds parameter is filld by this method
*
* For simple convex objects, there is two values in bounds that represent in and out events.
* An in event is whe the ray enters the geometry, an out is when the ray leaves the geometry.
*
* @todo Factorize code shared by Box3D::intersect()
*
* Adapted from http://www.geometrictools.com/LibMathematics/Intersection/Wm5IntrLine3Box3.cpp
*
*/
bool clip(Ray& ray_, IntervalSet &bounds) const {
float t0 = std::numeric_limits<float>::min();
float t1 = std::numeric_limits<float>::max();
// Convert linear component to box coordinates.
Vector3D diff = ray_.ori() - m_center;
Vector3D BOrigin(
diff.dot(m_axis[0]),
diff.dot(m_axis[1]),
diff.dot(m_axis[2])
);
Vector3D BDirection(
ray_.dir().dot(m_axis[0]),
ray_.dir().dot(m_axis[1]),
ray_.dir().dot(m_axis[2])
);
float saveT0 = t0, saveT1 = t1;
bool notAllClipped;
unsigned char updated;
int nt0, nt1;
notAllClipped = clip(+BDirection.x(), -BOrigin.x()-m_extent[0], t0, t1, updated);
if (updated == 1)
nt0 = 0;
else if (updated == 2)
nt1 = 0;
notAllClipped = notAllClipped && clip(-BDirection.x(), +BOrigin.x()-m_extent[0], t0, t1, updated);
if (updated == 1)
nt0 = 1;
else if (updated == 2)
nt1 = 1;
notAllClipped = notAllClipped && clip(+BDirection.y(), -BOrigin.y()-m_extent[1], t0, t1, updated);
if (updated == 1)
nt0 = 2;
else if (updated == 2)
nt1 = 2;
notAllClipped = notAllClipped && clip(-BDirection.y(), +BOrigin.y()-m_extent[1], t0, t1, updated);
if (updated == 1)
nt0 = 3;
else if (updated == 2)
nt1 = 3;
notAllClipped = notAllClipped && clip(+BDirection.z(), -BOrigin.z()-m_extent[2], t0, t1, updated);
if (updated == 1)
nt0 = 4;
else if (updated == 2)
nt1 = 4;
notAllClipped = notAllClipped && clip(-BDirection.z(), +BOrigin.z()-m_extent[2], t0, t1, updated);
if (updated == 1)
nt0 = 5;
else if (updated == 2)
nt1 = 5;
if (notAllClipped && (t0 != saveT0 || t1 != saveT1)) {
if (t1 > t0) {
Vector3D normal = m_axis[nt0/2];
if (nt0%2)
normal = -normal;
Diff_Geom *in = new Diff_Geom(ray_.at(t0), normal, t0);
normal = m_axis[nt1/2];
if (nt1%2)
normal = -normal;
Diff_Geom *out = new Diff_Geom(ray_.at(t1), normal, t1);
bounds.add(in, out);
return true;
} else {
return false;
}
} else {
return false;
}
}
