void TranslationTool::ImpulseBegin(const Ray& ray) {
UpdateScale();
Vector3f position = transformable->GetPosition();
Matrix transform = Matrix::CreateScale(Vector3f(scale)) * Matrix::CreateTranslation(position);
BoundingBox xBox = BoundingBox::Transform(xAxisBBox, transform);
BoundingBox yBox = BoundingBox::Transform(yAxisBBox, transform);
BoundingBox zBox = BoundingBox::Transform(zAxisBBox, transform);
F32 distance;
if (ray.Intersects(xBox, &distance)) {
if (ray.Intersects(Plane(Vector3f::Up, -position.y), &distance)) {
type = XAxis;
prevPoint = ray.GetOrigin() + ray.GetDirection() * distance;
}
} else if (ray.Intersects(yBox, &distance)) {
if (ray.Intersects(Plane(Vector3f::Backward, -position.z), &distance)) {
type = YAxis;
prevPoint = ray.GetOrigin() + ray.GetDirection() * distance;
}
} else if (ray.Intersects(zBox, &distance)) {
if (ray.Intersects(Plane(Vector3f::Right, -position.x), &distance)) {
type = ZAxis;
prevPoint = ray.GetOrigin() + ray.GetDirection() * distance;
}
}
}
void TranslationTool::Impulse(const Ray& ray) {
Vector3f position = transformable->GetPosition();
switch(type) {
case XAxis: {
F32 distance;
if (ray.Intersects(Plane(Vector3f::Up, -position.y), &distance)) {
Vector3f intersection = ray.GetOrigin() + ray.GetDirection() * distance;
F32 deltaX = intersection.x - prevPoint.x;
transformable->SetPosition(Vector3f(position.x + deltaX, position.y, position.z));
prevPoint = intersection;
}
break;
}
case YAxis: {
F32 distance;
if (ray.Intersects(Plane(Vector3f::Backward, -position.z), &distance)) {
Vector3f intersection = ray.GetOrigin() + ray.GetDirection() * distance;
F32 deltaY = intersection.y - prevPoint.y;
transformable->SetPosition(Vector3f(position.x, position.y + deltaY, position.z));
prevPoint = intersection;
}
break;
}
case ZAxis: {
F32 distance;
if (ray.Intersects(Plane(Vector3f::Right, -position.x), &distance)) {
Vector3f intersection = ray.GetOrigin() + ray.GetDirection() * distance;
F32 deltaZ = intersection.z - prevPoint.z;
transformable->SetPosition(Vector3f(position.x, position.y, position.z + deltaZ));
prevPoint = intersection;
}
break;
}
}
}
GeometryRayTestResult Intersects(const Sphere& Ball, const Ray& Cast)
{
// Code in this function is based on the equivalent in Ogre
const Vector3 CastDir = Cast.GetNormal();
const Vector3 CastOrigin = Cast.GetOrigin() - Ball.Center; // Makes math easier to do this in sphere local coordinates
const Real Radius = Ball.Radius;
// Build coefficients for our formula
// t = (-b +/- sqrt(b*b + 4ac)) / 2a
Real ACoEff = CastDir.DotProduct(CastDir);
Real BCoEff = 2 * CastOrigin.DotProduct(CastDir);
Real CCoEff = CastOrigin.DotProduct(CastOrigin) - ( Radius * Radius );
// Get the Determinate
Real Determinate = ( BCoEff * BCoEff ) - ( 4 * ACoEff * CCoEff );
if( Determinate < 0 ) {
return GeometryRayTestResult(false,Ray());
}else{
Real NearDist = ( -BCoEff - MathTools::Sqrt( Determinate ) ) / ( 2 * ACoEff );
Real FarDist = ( -BCoEff + MathTools::Sqrt( Determinate ) ) / ( 2 * ACoEff );
Ray Ret( Cast.GetOrigin() + (CastDir * NearDist), Cast.GetOrigin() + (CastDir * FarDist) );
return GeometryRayTestResult(true,Ret);
}
}
bool BasicPrimitiveTests::IntersectingRayAgainstAABB(const Ray & ray, const AABB & aabb, float & rtn_t)
{
/*
Main Idea:
-> Uses slab representation for box.
-> Finds intersection of ray/segment with each slab. Then compares intersection times for overlap in all slabs.
-> Keep track of:
-> A: The farthest of all entries into a slab
-> B: The closest of all exits out of a slab.
-> If A > B at anytime, exit with no intersection.
Intersecting slabs:
-> Intersect slabs by inserting ray equation into plane equations for slab.
-> Solve for t
-> Must handle case when ray parallel to slab separately.
-> To avoid division by zero.
Can test for intersection without calculating intersection point:
-> Choose coordinate system where box is axis aligned and centered at origin:
AABB:
-> Translate segment and AABB to origin.
OBB:
-> Transform Segment to OBB space, then translate both segment and OBB to origin.
-> Do separating axis test with 6 axes:
-> Three principle axes.
-> Three cross products of box face normals and segment direction vector.
*/
rtn_t = 0.0f;
float tmax = FLT_MAX;
Eigen::Vector3f aabb_min = aabb.GetCenter() - aabb.GetExtents();
Eigen::Vector3f aabb_max = aabb.GetCenter() + aabb.GetExtents();
for (int i = 0; i < 3; ++i)
{
if (abs(ray.GetDirection()[i]) < EPSILON)
{
//Ray is parallel to slab. Not hit if origin not within slab.
if (ray.GetOrigin()[i] < aabb_min[i] || ray.GetOrigin()[i] > aabb_max[i])
{
return false;
}
}
else
{
float one_over_direction = 1.0f / ray.GetDirection()[i];
float t1 = (aabb_min[i] - ray.GetOrigin()[i]) * one_over_direction;
float t2 = (aabb_max[i] - ray.GetOrigin()[i]) * one_over_direction;
if (t1 > t2) Swap(t1, t2);
if (t1 > rtn_t) rtn_t = t1;
if (t2 > tmax) tmax = t2;
if (rtn_t > tmax) return false;
}
}
return true;
}
Point3DTestResult Intersects(const Plane& Surface, const Ray& Cast)
{
// Code in this function is based on the equivalent in Ogre
Real Denom = Surface.Normal.DotProduct( Cast.GetNormal() );// + Surface.Distance;
if( MathTools::Abs(Denom) < std::numeric_limits<Real>::epsilon() ) {
return Point3DTestResult( false, Vector3() );
}else{
Real Nom = Surface.Normal.DotProduct( Cast.GetOrigin() ) + Surface.Distance;
Real Distance = -( Nom / Denom );
return Point3DTestResult( true, Cast.GetOrigin() + ( Cast.GetNormal() * Distance) );
}
return Point3DTestResult( false, Vector3() );
}
Ray Ray::Transform(const Ray& ray, const Matrix& transform) {
Vector3f origin = ray.GetOrigin();
Vector3f target = origin + ray.GetDirection() * ray.GetDistance();
Vector3f newOrigin = Vector3f::Transform(origin, transform);
Vector3f newTarget = Vector3f::Transform(target, transform);
return Ray(newOrigin, newTarget);
}
Air::U1 MeshEntity::RayCast( const Ray& ray ,float* pOutDistance)
{
#if 1
if(!GetWorldBoundingBox().RayCast(ray.GetOrigin(),ray.GetDirection())){//.Intersect(GetWorldBoundingBox())){
return false;
}
#endif
Matrix matWorld = *GetWorldMatrix();
Matrix matWorldInv = matWorld;
matWorldInv.Inverse();
Float3 vStart = ray.m_vStart;
Float3 vLookAt = vStart + ray.m_vDirection;
vStart = matWorldInv*vStart;
vLookAt = matWorldInv*vLookAt;
Float3 vDir = (vLookAt - vStart);
vDir.Normalize();
Ray objSpaceRay(vStart,vDir);
float fDistance = 999999.0f;
U1 bHit = m_pMesh->RayCast(objSpaceRay,&fDistance);
if(bHit && pOutDistance!=NULL){
Float3 vObjSpaceHitPostion = vStart + vDir*fDistance;
Float3 vWorldSpaceHiPosition = matWorld*vObjSpaceHitPostion;
*pOutDistance = (vWorldSpaceHiPosition - ray.m_vStart).Length();
}
return bHit;
}
bool PlaneIntersector<real>::Intersect( const Plane<real>* plane, const Ray<real>& ray, Intersection<real>& oIntersection )
{
const Vector3<real>& origin = ray.GetOrigin();
const Vector3<real>& direction = ray.GetDirection();
// Do not perform intersection if the direction of the ray is degenerated relative to the plane
if ( fabs( direction.Y() ) > EPS )
{
// Compute the intersection point and see if it's inside the plane bounds
real t = -origin.Y() / direction.Y();
Vector3<real> intersectionPoint = origin + t * direction;
bool isInsideXBounds = ( fabs( intersectionPoint.X() ) < plane->GetSizeX() * 0.5 ) ? true : false;
bool isInsideZBounds = ( fabs( intersectionPoint.Z() ) < plane->GetSizeZ() * 0.5 ) ? true : false;
// If the ray intersect and the intersection is in front
if ( ( t > 0 ) && isInsideXBounds && isInsideZBounds )
{
oIntersection.SetPosition( intersectionPoint );
oIntersection.SetNormal( Vector3<real>( 0, -sign<real>( direction.Y() ), 0 ) );
oIntersection.IsInside( false );
// Compute texture coodinates as (z=-0.5 => u=0 and x=-0.5 => v=0)
real u = ( intersectionPoint.Z() + plane->GetSizeZ() * 0.5 ) / plane->GetSizeZ();
real v = ( intersectionPoint.X() + plane->GetSizeX() * 0.5 ) / plane->GetSizeX();
oIntersection.SetTextureCoordinates( Vector3<real>( u, v, 0 ) );
return true;
}
}
return false;
}
float Sphere::CheckCollision(Ray ray)
{
Vector q = ray.GetOrigin();
Vector v = ray.GetDirection();
float A = pow(v.x, 2) + pow(v.y, 2) + pow(v.z, 2);
float Bx = v.x * (q.x - origin.x);
float By = v.y * (q.y - origin.y);
float Bz = v.z * (q.z - origin.z);
float B = 2 * (Bx + By + Bz);
float C = pow(q.x - origin.x, 2) + pow(q.y - origin.y, 2) + pow(q.z - origin.z, 2) - pow(radius, 2);
//Determines if we have a 'hit'
float discriminant = pow(B, 2) - (4 * A * C);
if (discriminant >= 0.f)
{
//Calculate our t values
float root = sqrt(discriminant);
float t1 = (-B + root) / (2 * A);
float t2 = (-B - root) / (2 * A);
float d = t1;
if (t1 > t2 && t2 > 0) //Make sure we don't take a negative
d = t2; //Choose the smaller (closer) of the 2 values.
if (d >= 0) //We want a positive distance from the starting vector
{
return d;
}
}
return -1.0f;
}
Ray<real> NodeIntersector<real>::TransformRayToLocalCoordinates( const CoreLib::Node<real>* node, const Ray<real>& ray )
{
const Matrix4<real>& globalToLocal = node->GetGlobalToLocal();
// The origin is affected by the affine transformation while the direction is not affected by translation ( operator ^ )
return Ray<real>( globalToLocal * ray.GetOrigin(), globalToLocal ^ ray.GetDirection() );
}
int Sphere::Intersect( Ray& a_Ray, float& a_Dist )
{
vector3 v = a_Ray.GetOrigin() - m_Centre;
float b = -DOT( v, a_Ray.GetDirection() );
float det = (b * b) - DOT( v, v ) + m_SqRadius;
int retval = MISS;
if (det > 0)
{
det = sqrtf( det );
float i1 = b - det;
float i2 = b + det;
if (i2 > 0)
{
if (i1 < 0)
{
if (i2 < a_Dist)
{
a_Dist = i2;
retval = INPRIM;
}
}
else
{
if (i1 < a_Dist)
{
a_Dist = i1;
retval = HIT;
}
}
}
}
return retval;
}
bool BasicPrimitiveTests::IntersectingRayAgainstAABB(const Ray & ray, const AABB & aabb)
{
const Eigen::Vector3f & ray_d_aabb = ray.GetDirection();
Eigen::Vector3f ray_o_aabb = ray.GetOrigin() - aabb.GetCenter();
return 0;
}
bool SphereIntersector<real>::Intersect( const Sphere<real>* sphere, const Ray<real>& ray, Intersection<real>& oIntersection )
{
// Compute the equation corresponding to x²+y²+z²=0 with p+t*d to obtain a quadratic equation
real a = ray.GetDirection().SquaredLength();
real b = 2.0 * ray.GetDirection() * ray.GetOrigin();
real c = ray.GetOrigin().SquaredLength() - sphere->GetRadius() * sphere->GetRadius();
real discriminant = b*b - 4*a*c;
// Discriminant >= 0 => the must be at least one intersection
if ( discriminant >= 0 )
{
// Compute the two potential intersections and only keep the nearest
real sqrtDisc = sqrt( discriminant );
real t = 0;
real t1 = ( -b - sqrtDisc ) / ( 2.0 * a );
real t2 = ( -b + sqrtDisc ) / ( 2.0 * a );
if ( t1 >= 0 )
{
t = t1;
oIntersection.IsInside( false );
}
else if ( t2 >= 0 )
{
t = t2;
oIntersection.IsInside( true );
}
else
return false;
oIntersection.SetPosition( ray.GetOrigin() + t * ray.GetDirection() );
oIntersection.SetNormal( oIntersection.GetPosition().Normalized() );
oIntersection.SetTextureCoordinates( oIntersection.GetPosition().Normalized() );
// The normal must be flipped to coincide with the hit direction
if ( oIntersection.IsInside() )
oIntersection.SetNormal( -oIntersection.GetNormal() );
return true;
}
return false;
}
bool BasicPrimitiveTests::IntersectingRayAgainstOBB(const Ray & ray, const OBB & obb)
{
Eigen::Matrix3f obb_rotation;
obb.GetRotationMatrix(obb_rotation);
Eigen::Vector3f ray_d_obb = obb_rotation * ray.GetDirection();
Eigen::Vector3f ray_o_obb = obb_rotation * (ray.GetOrigin() - obb.GetCenter());
return 0;
}
FPType Plane::GetIntersectionDisk(Ray ray, Vector3d normal_, Vector3d position)
{
FPType denom = normal_.Dot(ray.GetDirection());
FPType t = -1;
if(std::abs(denom) > ray.tMin && t <= ray.tMax)
{
t = (position - ray.GetOrigin()).Dot(normal_) / denom;
}
return t;
}
FPType Plane::GetIntersection(const Ray &ray)
{
FPType denom = normal.Dot(ray.GetDirection());
if(std::abs(denom) > BIAS)
{
FPType t = (center - ray.GetOrigin()).Dot(normal) / denom;
if(t > BIAS)
return t;
}
return false;
}
bool Camera::getPoint(int mx, int my, const std::vector<LineSegment>& lines,
Vector3& p, const Plane& plane) {
float minDist = 1000.0f;
bool findCurr = false;
Ray ray = getRay(mx, my);
for (int i = 0; i < lines.size(); ++i) {
for (int j = 0; j < 2; ++j) {
if (Ray::distRayPoint(ray, lines[i].points[j]) < 0.1f) {
if ((ray.GetOrigin() - lines[i].points[j]).length() < minDist) {
minDist = (ray.GetOrigin() - lines[i].points[j]).length();
p = lines[i].points[j];
findCurr = true;
}
}
}
}
if (!findCurr)
p = intersect(ray, plane);
// std::cout<<p<<std::endl;
return findCurr;
}
bool BasicPrimitiveTests::IntersectingRayAgainstSphere(const Ray & ray, const BoundingSphere & sphere, float & rtn_t)
{
/*
Main idea:
- Ray is substituted into sphere equation. Then solve quadratic formula for intersection.
- Test if intersection is within segment/ray endpoints
-> Use dot(X-C, X-C) = exp(r, 2)
-> As sphere equation.
Solving for "t":
-> Quadratic equation in "t" encountered.
-> where b = dot(m, d)
-> where c = dot(m, m) - r*r
-> where m = P-C
-> t = -b + sqrt(exp(b, 2) - c)
-> t = -b - sqrt(exp(b, 2) - c)
Notes:
-> Number of real roots => number of intersections:
-> Categorized by discriminant d = exp(b, 2) - c
-> May have false intersection with t < 0 when ray starts from inside sphere.
*/
Eigen::Vector3f m = ray.GetOrigin() - sphere.GetCenter();
float b = (m).dot(ray.GetDirection());
float c = m.dot(m);
if (c > 0.0f && b > 0.0f)
{
//Case: Ray origin outside of sphere and points away. => No Intersections.
return false;
}
float discriminant = b * b - c;
if (discriminant < 0.0f)
{
//Case: Misses sphere
return false;
}
else
{
//Case: Hits sphere. Calculate smallest t.
rtn_t = -b - sqrt(discriminant);
if (rtn_t < 0.0f)
{
rtn_t = 0.0f;
}
return true;
}
}
bool AABB::Intersect(Ray &ray)
{
glm::vec3 invDir = 1.0f / ray.GetDirection();
float tmin = (pMin.x - ray.GetOrigin().x) * invDir.x;
float tmax = (pMax.x - ray.GetOrigin().x) * invDir.x;
if (tmin > tmax) swap(tmin, tmax);
float tymin = (pMin.y - ray.GetOrigin().y) * invDir.y;
float tymax = (pMax.y - ray.GetOrigin().y) * invDir.y;
if (tymin > tymax) swap(tymin, tymax);
if ((tmin > tymax) || (tymin > tmax))
return false;
if (tymin > tmin)
tmin = tymin;
if (tymax < tmax)
tmax = tymax;
float tzmin = (pMin.z - ray.GetOrigin().z) * invDir.z;
float tzmax = (pMax.z - ray.GetOrigin().z) * invDir.z;
if (tzmin > tzmax) swap(tzmin, tzmax);
if ((tmin > tzmax) || (tzmin > tmax))
return false;
if (tzmin > tmin)
tmin = tzmin;
if (tzmax < tmax)
tmax = tzmax;
return true;
}
int PlanePrim::Intersect( Ray& a_Ray, float& a_Dist )
{
float d = DOT( m_Plane.N, a_Ray.GetDirection() );
if (d < 0)
{
float dist = -(DOT( m_Plane.N, a_Ray.GetOrigin() ) + m_Plane.D) / d;
if (dist < a_Dist)
{
a_Dist = dist;
return HIT;
}
}
return MISS;
}
bool Renderer::RaySphereIntersection(Ray ray, Sphere sphere)
{
Vector d = ray.GetDirection();
Vector e = ray.GetOrigin();
Vector c = sphere.GetCenter();
int R = sphere.GetRadius();
float discriminant = (d ^ (e - c)) * (d ^ (e - c)) - ((d ^ d) * (((e - c) ^ (e - c)) - R * R));
if(discriminant >= 0.0)
return true;
return false;
}
int Box::Intersect( Ray& a_Ray, float& a_Dist )
{
m_RayID = a_Ray.GetID();
float dist[6];
vector3 ip[6], d = a_Ray.GetDirection(), o = a_Ray.GetOrigin();
bool retval = MISS;
for ( int i = 0; i < 6; i++ ) dist[i] = -1;
vector3 v1 = m_Box.GetPos(), v2 = m_Box.GetPos() + GetSize();
if (d.x)
{
float rc = 1.0f / d.x;
dist[0] = (v1.x - o.x) * rc;
dist[3] = (v2.x - o.x) * rc;
}
if (d.y)
{
float rc = 1.0f / d.y;
dist[1] = (v1.y - o.y) * rc;
dist[4] = (v2.y - o.y) * rc;
}
if (d.z)
{
float rc = 1.0f / d.z;
dist[2] = (v1.z - o.z) * rc;
dist[5] = (v2.z - o.z) * rc;
}
for ( int i = 0; i < 6; i++ ) if (dist[i] > 0)
{
//ip[i] = o + dist[i] * d; // Uses vector addition and multiplication
ip[i].x = o.x + dist[i] * d.x;
ip[i].y = o.y + dist[i] * d.y;
ip[i].z = o.z + dist[i] * d.z;
if ((ip[i].x > (v1.x - EPSILON)) && (ip[i].x < (v2.x + EPSILON)) &&
(ip[i].y > (v1.y - EPSILON)) && (ip[i].y < (v2.y + EPSILON)) &&
(ip[i].z > (v1.z - EPSILON)) && (ip[i].z < (v2.z + EPSILON)))
{
if (dist[i] < a_Dist)
{
a_Dist = dist[i];
retval = HIT;
}
}
}
return retval;
}
int Camera::getLine(int mx, int my, const std::vector<LineSegment>& lines,
LineSegment& line) {
Ray ray = getRay(mx, my);
Vector3 v1 = ray.GetOrigin();
Vector3 v2 = v1 + ray.GetDirection() * 100.0f;
LineSegment l;
l.points[0] = v1;
l.points[1] = v2;
float minDist = 1000.0f;
int linePos = -1;
for (int i = 0; i < lines.size(); ++i) {
float dist = LineSegment::distSegmentSegment(lines[i], l);
if (dist <= 0.1f) {
minDist = dist;
line = lines[i];
linePos = i;
}
}
return linePos;
}
bool BasicPrimitiveTests::IntersectingRayAgainstOBB(const Ray & ray, const OBB & obb, float & rtn_t)
{
Eigen::Matrix3f obb_rotation;
obb.GetRotationMatrix(obb_rotation);
Eigen::Vector3f ray_d_obb = obb_rotation * ray.GetDirection();
Eigen::Vector3f ray_o_obb = obb_rotation * (ray.GetOrigin() - obb.GetCenter());
rtn_t = 0.0f;
float tmax = FLT_MAX;
Eigen::Vector3f aabb_min = -obb.GetExtents();
Eigen::Vector3f aabb_max = obb.GetExtents();
for (int i = 0; i < 3; ++i)
{
if (abs(ray_d_obb[i]) < EPSILON)
{
//Ray is parallel to slab. Not hit if origin not within slab.
if (ray_o_obb[i] < aabb_min[i] || ray_o_obb[i] > aabb_max[i])
{
return false;
}
}
else
{
float one_over_direction = 1.0f / ray_d_obb[i];
float t1 = (aabb_min[i] - ray_o_obb[i]) * one_over_direction;
float t2 = (aabb_max[i] - ray_o_obb[i]) * one_over_direction;
if (t1 > t2) Swap(t1, t2);
if (t1 > rtn_t) rtn_t = t1;
if (t2 > tmax) tmax = t2;
if (rtn_t > tmax) return false;
}
}
return true;
}
// ray tracing
Colour RayTracer::TraceRay(Ray& ray, int traceDepth)
{
if (traceDepth > MAXTRACEDEPTH)
return Colour();
Colour litColour, reflectedColour;
float distanceToIntersect = MAXDISTANCE;
Vector3f intersectionPoint;
Primitive* nearestPrimitive = 0;
nearestPrimitive = mScene->GetFirstPrimitive(ray, distanceToIntersect);
if (!nearestPrimitive)
return Colour();
else
{
// Ambient,Specular lighting
intersectionPoint = ray.GetOrigin() + ray.GetDirection() * distanceToIntersect;
litColour = mScene->CalculatePrimitiveLightingAtPoint((*nearestPrimitive), intersectionPoint, ray.GetDirection());
// reflection
float reflectionFactor = nearestPrimitive->GetMaterial()->Reflection;
if (reflectionFactor > 0.0f)
{
Vector3f normal = nearestPrimitive->GetNormal(intersectionPoint);
Vector3f reflected = ray.GetDirection() - normal * (2.0f * (ray.GetDirection()*normal));
Ray reflectedRay = Ray(intersectionPoint , reflected);
reflectedColour = TraceRay(reflectedRay, traceDepth + 1) * reflectionFactor;
}
return litColour + reflectedColour;
}
}
bool CylinderIntersector<real>::Intersect( const Cylinder<real>* cylinder, const Ray<real>& ray, Intersection<real>& oIntersection )
{
real nearestDistance = std::numeric_limits<real>::max();
real distance = 0;
bool hasIntersection = false;
////////////////////////////////////////////
//////////////////IFT 3355//////////////////
////////////////////////////////////////////
//Ici, vous calculerez l'intersection entre
//le rayon "ray" et le cylindre "cylinder"
//Pensez à initialiser les quatre attributs
//de oIntersection (retourné par référence)
//correctement si une intersection est trouvée.
////////////////////////////////////////////
//////////////////IFT 3355//////////////////
////////////////////////////////////////////
real halfHeight = cylinder->GetHeight() / 2;
real radius = cylinder->GetRadius();
// Intersection with extremeties.
Vector3<real> extremeties[2] = {
Vector3<real>(0, halfHeight, 0),
Vector3<real>(0, -halfHeight, 0),
};
for (int k = 0; k < 2; ++k) {
Vector3<real> plane = extremeties[k];
real denom = ray.GetDirection() * plane;
bool intersectsPlane = fabs(denom) > EPS;
// Ray intersects with the extremety.
if (intersectsPlane) {
// Intersection position on the infinite plane.
real t = ((plane - ray.GetOrigin()) * plane) / denom;
Vector3<real> intersectionPos = ray.GetOrigin() + t * ray.GetDirection();
// Ray intersects in the window.
if ((plane - intersectionPos).Length() <= radius &&
ray.GetDirection() * plane < 0 &&
t > EPS && t <= nearestDistance) {
oIntersection.SetNormal(plane);
oIntersection.SetPosition(intersectionPos);
oIntersection.SetTextureCoordinates(intersectionPos);
oIntersection.IsInside(false);
nearestDistance = t;
hasIntersection = true;
}
}
}
// Intersection with main body
Vector3<real> o = Vector3<real>(ray.GetOrigin().X(), 0, ray.GetOrigin().Z());
Vector3<real> d = Vector3<real>(ray.GetDirection().X(), 0, ray.GetDirection().Z());
real a = d*d;
real b = 2 * d * o;
real c = o * o - (radius*radius);
real discr = b*b - 4*a*c;
if (discr < -EPS) {
return hasIntersection; // No intersection.
}
else {
real t1 = (-b - sqrt(discr)) / (2*a);
real t2 = (-b + sqrt(discr)) / (2*a);
real t = std::min<real>(t1, t2);
Vector3<real> intersectionPos = ray.GetOrigin() + t * ray.GetDirection();
if (t >= EPS && t < nearestDistance && fabs(intersectionPos.Y()) < halfHeight+EPS) {
oIntersection.SetNormal(intersectionPos - Vector3<real>(0, intersectionPos.Y(), 0));
oIntersection.SetPosition(intersectionPos);
oIntersection.SetTextureCoordinates(intersectionPos);
oIntersection.IsInside(false);
nearestDistance = t;
hasIntersection = true;
}
}
return hasIntersection;
}
bool Ray::operator== (const Ray& ray) const
{
return m_direction == ray.GetDirection() && m_origin == ray.GetOrigin();
}
GeometryRayTestResult Intersects(const AxisAlignedBox& Box, const Ray& Cast)
{
// Code in this function is based on the equivalent in Ogre
Vector3 CastDir = Cast.GetNormal();
Vector3 AbsoluteDir = CastDir;
AbsoluteDir.X = MathTools::Abs( AbsoluteDir.X );
AbsoluteDir.Y = MathTools::Abs( AbsoluteDir.Y );
AbsoluteDir.Z = MathTools::Abs( AbsoluteDir.Z );
// A small fixed sized constant time sorting algorithm for sorting the length of each axis.
Whole MaxAxis = 0, MidAxis = 1, MinAxis = 2;
if( AbsoluteDir[0] < AbsoluteDir[2] ) {
MaxAxis = 2;
MinAxis = 1;
}else if( AbsoluteDir[1] < AbsoluteDir[MinAxis] ) {
MidAxis = MinAxis;
MinAxis = 1;
}else if( AbsoluteDir[1] > AbsoluteDir[MaxAxis] ) {
MidAxis = MaxAxis;
MaxAxis = 1;
}
if(IsInside(Box,Cast.Origin))
{
Vector3 Intersects;
Intersects[MinAxis] = 0;
Intersects[MidAxis] = 0;
Intersects[MaxAxis] = 1;
/*Plane Side(Intersects,)
if(CastDir[MaxAxis]>0)
{
}else{
}
return GeometryRayTestResult(true,Ray(,Vector3));*/
}
SegmentPosPair Distances(0,std::numeric_limits<Real>::infinity());
::CalculateAxis(MaxAxis,Cast,Box,Distances);
if( AbsoluteDir[MidAxis] < std::numeric_limits<Real>::epsilon() ) {
if( Cast.GetOrigin()[MidAxis] < Box.MinExt[MidAxis] || Cast.GetOrigin()[MidAxis] > Box.MaxExt[MidAxis] ||
Cast.GetOrigin()[MinAxis] < Box.MinExt[MinAxis] || Cast.GetOrigin()[MinAxis] > Box.MaxExt[MinAxis] )
{
return GeometryRayTestResult(false,Ray());
}
}else{
::CalculateAxis(MidAxis,Cast,Box,Distances);
if( AbsoluteDir[MinAxis] < std::numeric_limits<Real>::epsilon() ) {
if( Cast.GetOrigin()[MinAxis] < Box.MinExt[MinAxis] || Cast.GetOrigin()[MinAxis] > Box.MaxExt[MinAxis] ) {
return GeometryRayTestResult(false,Ray());
}
}else{
::CalculateAxis(MinAxis,Cast,Box,Distances);
}
}
Ray Ret( Cast.GetOrigin() + (CastDir * Distances.first), Cast.GetOrigin() + (CastDir * Distances.second) );
return GeometryRayTestResult(true,Ret);
}