//=============================================================================
bool Intersect (IntersectInfo3 & out, const Ray3 & r, const Aabb3 & b)
{
float32 & tmin = out.time;
float32 tmax = std::numeric_limits<float32>::max();
tmin = 0;
Vector3 nmin(1e-10f, 1e-11f, 1e-12f);
static const Vector3 s_normals[] = {
Vector3(1.0f, 0.0f, 0.0f),
Vector3(0.0f, 1.0f, 0.0f),
Vector3(0.0f, 0.0f, 1.0f)
};
for (uint i = 0; i < 3; ++i)
{
// ray is parallel to slab?
//if (Equal(r.direction[i], 0.0f))
if (Abs(r.direction[i]) < 0.0001f)
{
if (r.origin[i] < b.min[i] || r.origin[i] > b.max[i])
return false;
}
else
{
const float32 ood = 1.0f / r.direction[i];
float32 t1 = (b.min[i] - r.origin[i]) * ood;
float32 t2 = (b.max[i] - r.origin[i]) * ood;
const Vector3 & n1 = s_normals[i];
//Vector3 n2 = Vector3::Zero; n2[i] = +1.0f;
float32 nSign = 1.0f;
// make sure that t1 is always less than or equal to t2
if (t1 > t2)
{
std::swap(t1, t2);
nSign = -1.0f;
//std::swap(n1, n2);
}
if (t1 > tmin)
{
tmin = t1;
nmin = n1 * nSign;
}
//tmin = Max(tmin, t1);
tmax = Min(tmax, t2);
if (tmin > tmax)
return false;
}
}
out.point = r.origin + tmin * r.direction;
out.normal = nmin;
return true;
}
bool Box::intersectLocal( const ray& r, isect& i ) const
{
BoundingBox bounds = ComputeLocalBoundingBox();
vec3f p = r.getPosition();
vec3f d = r.getDirection();
//find tmin and tmax
vec3f tmin;
vec3f tmax;
vec3f nmin(0, 0, 0);
vec3f nmax(0, 0, 0);
double min;
double max;
for(int j=0; j<3; j++) {
if(d[j]>=0) {
tmin[j] = (bounds.min[j] - p[j]) / d[j];
tmax[j] = (bounds.max[j] - p[j]) / d[j];
nmin[j] = -1;
nmax[j] = 1;
} else {
tmin[j] = (bounds.max[j] - p[j]) / d[j];
tmax[j] = (bounds.min[j] - p[j]) / d[j];
nmin[j] = 1;
nmax[j] = -1;
}
}
//min of tmax, max of tmin
max = std::min( std::min(tmax[0], tmax[1]), tmax[2]);
min = std::max( std::max(tmin[0], tmin[1]), tmin[2]);
if(min > max || max < RAY_EPSILON) return false;
i.obj = this;
vec3f N(0, 0, 0);
if(min >= RAY_EPSILON) {
i.t = min;
for(int i=0; i<3; i++) {
if(tmin[i] == min) { N[i] = nmin[i]; break; }
}
} else {
i.t = max;
for(int i=0; i<3; i++) {
if(tmax[i] == max) { N[i] = nmax[i]; break; }
}
}
i.N = N;
return true;
}
void collideWithPolyTrees(Particles& particles, const Matrix4& txMx, const std::vector<Object>& objs, std::vector<ozcollide::AABBTreePoly*>& coltrees) {
Particles::Positions pos = particles.pos_;
Particles::Velocities& vel = particles.vel_;
Particles::Velocities& dv = particles.dv_;
// Particles::Accelerations& da = particles.da_;
const unsigned size = pos.size();
for (unsigned i=0;i<size;i++) {
pos[i] = Matrix4AffineReal3(txMx, pos[i]);
}
for (unsigned i=0;i<size;i++) {
Real3 pi = pos[i];
Real3 pf = pi+dv[i];
std::vector<ozcollide::AABBTreePoly::SegmentColResult> colres(coltrees.size());
for (unsigned j=0;j<coltrees.size();j++) {
coltrees[j]->collideWithSegment(toVec3f(pi),toVec3f(pf), colres[j]);
}
for (unsigned j=0;j<coltrees.size();j++) {
real tmin = std::numeric_limits<float>::max();
Real3 nmin(0.);
const ozcollide::Polygon* pmin = 0;
for (unsigned k=0;k<colres[j].polys_.size();k++) {
const ozcollide::Polygon* poly= colres[j].polys_[k];
const Real3& a = objs[j].vx_[poly->getIndex(0)];
const Real3& b = objs[j].vx_[poly->getIndex(1)];
const Real3& c = objs[j].vx_[poly->getIndex(2)];
// const Real3& an = objs[j].vn_[poly->getIndex(0)];
// const Real3& bn = objs[j].vn_[poly->getIndex(1)];
// const Real3& cn = objs[j].vn_[poly->getIndex(2)];
ozcollide::Plane plane;
plane.fromPoints(toVec3f(a),toVec3f(b), toVec3f(c) );
real t;
if (plane.intersectWithLine(toVec3f(pi),toVec3f(pf),t)) {
if(t<tmin) {
tmin=t;
pmin = poly;
nmin = normalize( crossProd( b-a, c-a) );
}
}
// reaction
if (pmin) {
// Real3 dvi = dv[i];
// Real3 x = pi+tmin*dvi;
// pos[i]=x+(1.-tmin)*(dvi.norm())*nmin; // separate from geometry
dv[i] = tmin*dv[i]+(1.-tmin)*dv[i].norm()*nmin;
// perfect bounce == 2 slip walls = 1
real k = 1.8;
vel[i]+=-k*dotProd(vel[i],nmin)*nmin; // bounce
vel[i]*=0.95;
// this gets inside geometry often
// pos[i]=x+(1.-tmin)*(dv[i].norm())*nmin;
// vel[i]=vel[i].norm()*nmin;
// dv[i]=Real3(0.);
// da[i]= Real3(0.);
}
}
}
}
}
