SimdVector3 GetRayTo(int x,int y)
{
float top = 1.f;
float bottom = -1.f;
float nearPlane = 1.f;
float tanFov = (top-bottom)*0.5f / nearPlane;
float fov = 2.0 * atanf (tanFov);
SimdVector3 rayFrom(eye[0],eye[1],eye[2]);
SimdVector3 rayForward = -rayFrom;
rayForward.normalize();
float farPlane = 600.f;
rayForward*= farPlane;
SimdVector3 rightOffset;
SimdVector3 vertical(0.f,1.f,0.f);
SimdVector3 hor;
hor = rayForward.cross(vertical);
hor.normalize();
vertical = hor.cross(rayForward);
vertical.normalize();
float tanfov = tanf(0.5f*fov);
hor *= 2.f * farPlane * tanfov;
vertical *= 2.f * farPlane * tanfov;
SimdVector3 rayToCenter = rayFrom + rayForward;
SimdVector3 dHor = hor * 1.f/float(glutScreenWidth);
SimdVector3 dVert = vertical * 1.f/float(glutScreenHeight);
SimdVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
rayTo += x * dHor;
rayTo -= y * dVert;
return rayTo;
}
bool gkRayTest::collides(const gkVector3& from, const gkVector3& to,
gkRayTest::gkRayTestFilter& rayCallback)
{
btVector3 rayFrom(from.x, from.y, from.z);
btVector3 rayTo(to.x, to.y, to.z);
btVector3 hitPointWorld;
rayCallback.m_collisionFilterGroup = btBroadphaseProxy::AllFilter;
rayCallback.m_collisionFilterMask = btBroadphaseProxy::AllFilter;
GK_ASSERT(m_scene);
btDynamicsWorld* pWorld = m_scene->getDynamicsWorld()->getBulletWorld();
GK_ASSERT(pWorld);
pWorld->rayTest(rayFrom, rayTo, rayCallback);
if (rayCallback.hasHit())
{
m_hitNormalWorld = gkVector3(rayCallback.m_hitNormalWorld);
m_collisionObject = rayCallback.m_collisionObject;
m_hitFraction = rayCallback.m_closestHitFraction;
hitPointWorld.setInterpolate3(rayFrom, rayTo, m_hitFraction);
m_hitPointWorld = gkVector3(hitPointWorld);
return true;
}
return false;
}
glm::vec3 GameWorld::getGroundAtPosition(const glm::vec3 &pos) const
{
btVector3 rayFrom(pos.x, pos.y, 100.f);
btVector3 rayTo(pos.x, pos.y, -100.f);
btDynamicsWorld::ClosestRayResultCallback rr(rayFrom, rayTo);
dynamicsWorld->rayTest( rayFrom, rayTo, rr );
if(rr.hasHit()) {
auto& ws = rr.m_hitPointWorld;
return { ws.x(), ws.y(), ws.z() };
}
return pos;
}
PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IPhysicsController* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ,
float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ)
{
float minFraction = 1.f;
SimdVector3 rayFrom(fromX,fromY,fromZ);
SimdVector3 rayTo(toX,toY,toZ);
SimdVector3 hitPointWorld,normalWorld;
//Either Ray Cast with or without filtering
//CollisionWorld::ClosestRayResultCallback rayCallback(rayFrom,rayTo);
FilterClosestRayResultCallback rayCallback(ignoreClient,rayFrom,rayTo);
PHY_IPhysicsController* nearestHit = 0;
m_collisionWorld->RayTest(rayFrom,rayTo,rayCallback);
if (rayCallback.HasHit())
{
nearestHit = static_cast<CcdPhysicsController*>(rayCallback.m_collisionObject->m_userPointer);
hitX = rayCallback.m_hitPointWorld.getX();
hitY = rayCallback.m_hitPointWorld.getY();
hitZ = rayCallback.m_hitPointWorld.getZ();
normalX = rayCallback.m_hitNormalWorld.getX();
normalY = rayCallback.m_hitNormalWorld.getY();
normalZ = rayCallback.m_hitNormalWorld.getZ();
}
return nearestHit;
}
void clientDisplay(void)
{
for (int i=0;i<numObjects;i++)
{
transforms[i].setIdentity();
SimdVector3 pos(-3.5f+i*2.5f,0.f,0.f);
transforms[i].setOrigin( pos );
SimdQuaternion orn;
if (i < 2)
{
orn.setEuler(yaw,pitch,roll);
transforms[i].setRotation(orn);
}
}
myMink.SetTransformA(SimdTransform(transforms[0].getRotation()));
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glDisable(GL_LIGHTING);
if (once)
{
glGenTextures(1, &glTextureId);
glBindTexture(GL_TEXTURE_2D,glTextureId );
once = 0;
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
}
glDisable(GL_TEXTURE_2D);
glDisable(GL_BLEND);
#define RAYTRACER
#ifdef RAYTRACER
SimdVector4 rgba(1.f,0.f,0.f,0.5f);
float top = 1.f;
float bottom = -1.f;
float nearPlane = 1.f;
float tanFov = (top-bottom)*0.5f / nearPlane;
float fov = 2.0 * atanf (tanFov);
SimdVector3 rayFrom(eye[0],eye[1],eye[2]);
SimdVector3 rayForward = -rayFrom;
rayForward.normalize();
float farPlane = 600.f;
rayForward*= farPlane;
SimdVector3 rightOffset;
SimdVector3 vertical(0.f,1.f,0.f);
SimdVector3 hor;
hor = rayForward.cross(vertical);
hor.normalize();
vertical = hor.cross(rayForward);
vertical.normalize();
float tanfov = tanf(0.5f*fov);
hor *= 2.f * farPlane * tanfov;
vertical *= 2.f * farPlane * tanfov;
SimdVector3 rayToCenter = rayFrom + rayForward;
SimdVector3 dHor = hor * 1.f/float(screenWidth);
SimdVector3 dVert = vertical * 1.f/float(screenHeight);
SimdTransform rayFromTrans;
rayFromTrans.setIdentity();
rayFromTrans.setOrigin(rayFrom);
SimdTransform rayFromLocal;
SimdTransform rayToLocal;
SphereShape pointShape(0.0f);
///clear texture
for (int x=0;x<screenWidth;x++)
{
for (int y=0;y<screenHeight;y++)
{
SimdVector4 rgba(0.f,0.f,0.f,0.f);
raytracePicture->SetPixel(x,y,rgba);
}
}
ConvexCast::CastResult rayResult;
SimdTransform rayToTrans;
rayToTrans.setIdentity();
SimdVector3 rayTo;
for (int x=0;x<screenWidth;x++)
{
for (int y=0;y<screenHeight;y++)
{
rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
rayTo += x * dHor;
rayTo -= y * dVert;
rayToTrans.setOrigin(rayTo);
for (int s=0;s<numObjects;s++)
{
// rayFromLocal = transforms[s].inverse()* rayFromTrans;
// rayToLocal = transforms[s].inverse()* rayToTrans;
//choose the continuous collision detection method
SubsimplexConvexCast convexCaster(&pointShape,shapePtr[s],&simplexSolver);
//GjkConvexCast convexCaster(&pointShape,shapePtr[0],&simplexSolver);
//ContinuousConvexCollision convexCaster(&pointShape,shapePtr[0],&simplexSolver,0);
// BU_Simplex1to4 ptShape(SimdVector3(0,0,0));//algebraic needs features, doesnt use 'supporting vertex'
// BU_CollisionPair convexCaster(&ptShape,shapePtr[0]);
//reset previous result
rayResult.m_fraction = 1.f;
if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,transforms[s],transforms[s],rayResult))
{
//float fog = 1.f - 0.1f * rayResult.m_fraction;
rayResult.m_normal.normalize();
SimdVector3 worldNormal;
worldNormal = transforms[s].getBasis() *rayResult.m_normal;
float light = worldNormal.dot(SimdVector3(0.4f,-1.f,-0.4f));
if (light < 0.2f)
light = 0.2f;
if (light > 1.f)
light = 1.f;
rgba = SimdVector4(light,light,light,1.f);
raytracePicture->SetPixel(x,y,rgba);
} else
{
//clear is already done
//rgba = SimdVector4(0.f,0.f,0.f,0.f);
//raytracePicture->SetPixel(x,y,rgba);
}
}
}
}
#define TEST_PRINTF
#ifdef TEST_PRINTF
extern BMF_FontData BMF_font_helv10;
raytracePicture->Printf("CCD RAYTRACER",&BMF_font_helv10);
char buffer[256];
sprintf(buffer,"%d RAYS / Frame",screenWidth*screenHeight*numObjects);
raytracePicture->Printf(buffer,&BMF_font_helv10,0,10);
#endif //TEST_PRINTF
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
glFrustum(-1.0,1.0,-1.0,1.0,3,2020.0);
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glLoadIdentity(); // Reset The Modelview Matrix
glTranslatef(0.0f,0.0f,-3.0f); // Move Into The Screen 5 Units
glEnable(GL_TEXTURE_2D);
glBindTexture(GL_TEXTURE_2D,glTextureId );
const unsigned char *ptr = raytracePicture->GetBuffer();
glTexImage2D(GL_TEXTURE_2D,
0,
GL_RGBA,
raytracePicture->GetWidth(),raytracePicture->GetHeight(),
0,
GL_RGBA,
GL_UNSIGNED_BYTE,
ptr);
glEnable (GL_BLEND);
glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glColor4f (1,1,1,1); // alpha=0.5=half visible
glBegin(GL_QUADS);
glTexCoord2f(0.0f, 0.0f);
glVertex2f(-1,1);
glTexCoord2f(1.0f, 0.0f);
glVertex2f(1,1);
glTexCoord2f(1.0f, 1.0f);
glVertex2f(1,-1);
glTexCoord2f(0.0f, 1.0f);
glVertex2f(-1,-1);
glEnd();
glMatrixMode(GL_MODELVIEW);
glPopMatrix();
glMatrixMode(GL_PROJECTION);
glPopMatrix();
glMatrixMode(GL_MODELVIEW);
#endif //RAYRACER
glDisable(GL_TEXTURE_2D);
glDisable(GL_DEPTH_TEST);
GL_ShapeDrawer::DrawCoordSystem();
glPushMatrix();
/*
/// normal opengl rendering
float m[16];
int i;
for (i=0;i<numObjects;i++)
{
transA.getOpenGLMatrix( m );
/// draw the simplex
GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i],SimdVector3(1,1,1));
/// calculate closest point from simplex to the origin, and draw this vector
simplex.CalcClosest(m);
}
*/
glPopMatrix();
pitch += 0.005f;
yaw += 0.01f;
glFlush();
glutSwapBuffers();
}
