bool Obj::GroundCheck(IN OUT D3DXVECTOR3& groundPos) const
{
bool find = false;
D3DXVECTOR3 rayStart(groundPos.x, 1000.0f, groundPos.z);
D3DXVECTOR3 rayDirection(0, -1, 0);
for (size_t i = 0; i < objGround.size(); i += 3)
{
float u, v, distance;
find = D3DXIntersectTri(
&objGround[i],
&objGround[i + 1],
&objGround[i + 2],
&rayStart,
&rayDirection,
&u, &v,
&distance) != 0;
if (find == true)
{
groundPos.y = 1000.0f - distance;
//groundPos = objGround[i] + ( ( objGround[i + 1] - objGround[i] ) * u ) + ( ( objGround[i + 2] - objGround[i] ) * v );
break;
}
}
return find;
}
virtual void renderScene(Scene* scene, RenderTarget* target, RayTracer* tracer)
{
RGBColor pixelColor;
Ray ray;
int recursionDepth = 0;
Point2d samplePointUnit, samplePointPixel;
float pixelSize = target->getPixelSize() / mZoom;
ray.origin = mEyePosition;
for(int r = 0; r < target->getHeight(); ++r)
{
for(int c = 0; c < target->getWidth(); ++c)
{
pixelColor = RGBColor();
for(int numSample = 0; numSample < mSampler->getSampleNumber(); ++numSample)
{
samplePointUnit = mSampler->getNextUnitSquareSample();
samplePointPixel.x = pixelSize * (c - 0.5 * target->getWidth() + samplePointUnit.x);
samplePointPixel.y = pixelSize * (r - 0.5 * target->getHeight() + samplePointUnit.y);
ray.direction = rayDirection(samplePointPixel);
pixelColor += tracer->traceRay(&ray, scene);
}
pixelColor /= mSampler->getSampleNumber();
pixelColor *= mExposureTime;
target->drawPixel(c, r, pixelColor);
}
}
}
/*
* This is our ray / bolt collision routine for now.
* Basically, this is called on a ship unit to see if any ray or bolt given by some simple vectors collide with it
* We should probably first check against shields and then against the colTree to see if we hit the shields first
* Not sure yet if that would work though... more importantly, we might have to modify end in here in order
* to tell calling code that the bolt should stop at a given point.
*/
Unit* Unit::rayCollide( const QVector &start, const QVector &end, Vector &norm, float &distance)
{
Unit *tmp;
float rad = this->rSize();
if ( ( !SubUnits.empty() ) && graphicOptions.RecurseIntoSubUnitsOnCollision )
if ( ( tmp = *SubUnits.fastIterator() ) )
rad += tmp->rSize();
if ( !globQuerySphere( start, end, cumulative_transformation_matrix.p, rad ) )
return NULL;
if (graphicOptions.RecurseIntoSubUnitsOnCollision) {
if ( !SubUnits.empty() ) {
un_fiter i( SubUnits.fastIterator() );
for (Unit *un; (un = *i); ++i)
if ( ( tmp = un->rayCollide( start, end, norm, distance) ) != 0 )
return tmp;
}
}
QVector st( InvTransform( cumulative_transformation_matrix, start ) );
QVector ed( InvTransform( cumulative_transformation_matrix, end ) );
static bool sphere_test = XMLSupport::parse_bool( vs_config->getVariable( "physics", "sphere_collision", "true" ) );
distance = querySphereNoRecurse( start, end );
if (distance > 0.0f || (this->colTrees&&this->colTrees->colTree( this, this->GetWarpVelocity() )&&!sphere_test)) {
Vector coord;
/* Set up points and ray to send to ray collider. */
Opcode::Point rayOrigin(st.i,st.j,st.k);
Opcode::Point rayDirection(ed.i,ed.j,ed.k);
Opcode::Ray boltbeam(rayOrigin,rayDirection);
if(this->colTrees){
// Retrieve the correct scale'd collider from the unit's collide tree.
csOPCODECollider *tmpCol = this->colTrees->colTree( this, this->GetWarpVelocity() );
QVector del(end-start);
//Normalize(del);
norm = ((start+del*distance)-Position()).Cast();
Normalize(norm);
//RAY COLLIDE does not yet set normal, use that of the sphere center to current loc
if (tmpCol==NULL) {
return this;
}
if(tmpCol->rayCollide(boltbeam,norm,distance)){
// compute real distance
distance = (end-start).Magnitude() * distance;
// NOTE: Here is where we need to retrieve the point on the ray that we collided with the mesh, and set it to end, create the normal and set distance
VSFileSystem::vs_dprintf(3,"Beam collide with %p, distance %f\n",this,distance);
return(this);
}
} else {//no col trees = a sphere
// compute real distance
distance = (end-start).Magnitude() * distance;
VSFileSystem::vs_dprintf(3,"Beam collide with %p, distance %f\n",this,distance);
return(this);
}
} else {
return (NULL);
}
return(NULL);
}
bool HeightMap::OnTheGround(D3DXVECTOR3& pos, const D3DXVECTOR3& p0, const D3DXVECTOR3& p1, const D3DXVECTOR3& p2)
{
bool find = false;
D3DXVECTOR3 rayStart(pos.x, 1000.0f, pos.z);
D3DXVECTOR3 rayDirection(0, -1, 0);
float u, v, distance;
find = D3DXIntersectTri(
&p0, &p1, &p2,
&rayStart, &rayDirection,
&u, &v, &distance) != 0;
if (find == true)
{
pos.y = 1000.0f - distance;
//pos = p0 + (p1 - p0) * u + (p2 - p0) * v;
}
return find;
}
void Player::Raycast(const GameContext& gameContext)
{
GameScene* scene = GetScene();
XMFLOAT3 pos = GetTransform()->GetPosition();
XMFLOAT3 fw = GetTransform()->GetForward();
PxVec3 rayOrigin(pos.x,pos.y + 1.f,pos.z), rayDirection(fw.x,fw.y,fw.z);
rayOrigin.x += fw.x * 2.5f;
rayOrigin.z += fw.z * 2.5f;
const PxU32 bufSize = 20;
PxRaycastHit hit[bufSize];
PxRaycastBuffer buf(hit, bufSize); // [out] Blocking and touching hits will be stored here
if(scene->GetPhysxProxy()->Raycast(rayOrigin, rayDirection, 5000, buf))
{
for(PxU32 i = 0; i < buf.nbTouches; ++i)
{
BaseComponent* component = static_cast<BaseComponent*>(buf.touches[i].actor->userData);
GameObject* go = component->GetGameObject();
string name = go->GetName();
cout << "RAYCAST OBJECT: " << name << endl;
if(name == "Enemy")
{
Enemy* enemy = reinterpret_cast<Enemy*>(go);
int dmg = 12.5f;
enemy->Damage(dmg);
}
}
PxVec3 vel = rayDirection * 1000;
auto laser = new Laser(XMFLOAT3(vel.x, vel.y, vel.z));
AddChild(laser);
}
}
int FFDDistanceGridDiscreteIntersection::computeIntersection(Ray& e2, FFDDistanceGridCollisionElement& e1, OutputVector* contacts)
{
Vector3 rayOrigin(e2.origin());
Vector3 rayDirection(e2.direction());
const double rayLength = e2.l();
DistanceGrid* grid1 = e1.getGrid();
FFDDistanceGridCollisionModel::DeformedCube& c1 = e1.getCollisionModel()->getDeformCube(e1.getIndex());
// Center of the sphere
const Vector3 center1 = c1.center;
// Radius of the sphere
const double radius1 = c1.radius;
const Vector3 tmp = center1 - rayOrigin;
double rayPos = tmp*rayDirection;
const double dist2 = tmp.norm2() - (rayPos*rayPos);
if (dist2 >= (radius1*radius1))
return 0;
double l0 = rayPos - sqrt(radius1*radius1 - dist2);
double l1 = rayPos + sqrt(radius1*radius1 - dist2);
if (l0 < 0) l0 = 0;
if (l1 > rayLength) l1 = rayLength;
if (l0 > l1) return 0; // outside of ray
//const double dist = sqrt(dist2);
//double epsilon = grid1->getCellWidth().norm()*0.1f;
c1.updateFaces();
DistanceGrid::Coord p1;
const SReal cubesize = c1.invDP.norm();
for(int i=0; i<100; i++)
{
rayPos = l0 + (l1-l0)*(i*0.01);
p1 = rayOrigin + rayDirection*rayPos;
// estimate the barycentric coordinates
DistanceGrid::Coord b = c1.undeform0(p1);
// refine the estimate until we are very close to the p2 or we are sure p2 cannot intersect with the object
int iter;
//SReal err1 = 1000.0f;
bool found = false;
for(iter=0; iter<5; ++iter)
{
DistanceGrid::Coord pdeform = c1.deform(b);
DistanceGrid::Coord diff = p1-pdeform;
SReal err = diff.norm();
//if (iter>3)
// sout << "Iter"<<iter<<": "<<err1<<" -> "<<err<<" b = "<<b<<" diff = "<<diff<<" d = "<<grid1->interp(c1.initpos(b))<<""<<sendl;
SReal berr = err*cubesize; if (berr>0.5f) berr=0.5f;
if (b[0] < -berr || b[0] > 1+berr
|| b[1] < -berr || b[1] > 1+berr
|| b[2] < -berr || b[2] > 1+berr)
break; // far from the cube
if (err < 0.001f)
{
// we found the corresponding point, but is is only valid if inside the current cube
if (b[0] > -0.1f && b[0] < 1.1f
&& b[1] > -0.1f && b[1] < 1.1f
&& b[2] > -0.1f && b[2] < 1.1f)
{
found = true;
}
break;
}
//err1 = err;
b += c1.undeformDir( b, diff );
}
if (found)
{
SReal d = grid1->interp(c1.initpos(b));
if (d < 0)
{
// intersection found
contacts->resize(contacts->size()+1);
DetectionOutput *detection = &*(contacts->end()-1);
detection->point[0] = e2.origin() + e2.direction()*rayPos;
detection->point[1] = c1.initpos(b);
detection->normal = e2.direction(); // normal in global space from p1's surface
detection->value = d;
detection->elem.first = e2;
detection->elem.second = e1;
detection->id = e2.getIndex();
return 1;
}
}
// else move along the ray
//if (dot(Vector3(grid1->grad(c1.initpos(b))),rayDirection) < 0)
// rayPos += 0.5*d;
//else
// rayPos -= 0.5*d;
}
return 0;
}
void Mesh::generateHeightmap(const char* filename)
{
// Shoot rays down from a point just above the max Y position of the mesh.
// Compute ray-triangle intersection tests against the ray and this mesh to
// generate heightmap data.
Vector3 rayOrigin(0, bounds.max.y + 10, 0);
Vector3 rayDirection(0, -1, 0);
Vector3 intersectionPoint;
int minX = (int)ceil(bounds.min.x);
int maxX = (int)floor(bounds.max.x);
int minZ = (int)ceil(bounds.min.z);
int maxZ = (int)floor(bounds.max.z);
int width = maxX - minX + 1;
int height = maxZ - minZ + 1;
float* heights = new float[width * height];
int index = 0;
float minHeight = FLT_MAX;
float maxHeight = FLT_MIN;
for (int z = minZ; z <= maxZ; z++)
{
rayOrigin.z = (float)z;
for (int x = minX; x <= maxX; x++)
{
float h;
rayOrigin.x = (float)x;
if (intersect(rayOrigin, rayDirection, vertices, parts, &intersectionPoint))
{
h = intersectionPoint.y;
}
else
{
h = 0;
fprintf(stderr, "Warning: Heightmap triangle intersection failed for (%d, %d).\n", x, z);
}
if (h < minHeight)
minHeight = h;
if (h > maxHeight)
maxHeight = h;
heights[index++] = h;
}
}
// Normalize the max height value
maxHeight = maxHeight - minHeight;
png_structp png_ptr = NULL;
png_infop info_ptr = NULL;
png_bytep row = NULL;
FILE* fp = fopen(filename, "wb");
if (fp == NULL)
{
fprintf(stderr, "Error: Failed to open file for writing: %s\n", filename);
goto error;
}
png_ptr = png_create_write_struct(PNG_LIBPNG_VER_STRING, NULL, NULL, NULL);
if (png_ptr == NULL)
{
fprintf(stderr, "Error: Write struct creation failed: %s\n", filename);
goto error;
}
info_ptr = png_create_info_struct(png_ptr);
if (info_ptr == NULL)
{
fprintf(stderr, "Error: Info struct creation failed: %s\n", filename);
goto error;
}
png_init_io(png_ptr, fp);
png_set_IHDR(png_ptr, info_ptr, width, height, 8, PNG_COLOR_TYPE_RGB, PNG_INTERLACE_NONE, PNG_COMPRESSION_TYPE_BASE, PNG_FILTER_TYPE_BASE);
png_write_info(png_ptr, info_ptr);
// Allocate memory for a single row of image data
row = (png_bytep)malloc(3 * width * sizeof(png_byte));
for (int y = 0; y < height; y++)
{
for (int x = 0; x < width; x++)
{
// Write height value normalized between 0-255 (between min and max height)
float h = heights[y*width + x];
float nh = (h - minHeight) / maxHeight;
png_byte b = (png_byte)(nh * 255.0f);
int pos = x*3;
row[pos] = row[pos+1] = row[pos+2] = b;
}
png_write_row(png_ptr, row);
}
png_write_end(png_ptr, NULL);
DEBUGPRINT_VARG("> Saved heightmap: %s\n", filename);
error:
if (heights)
delete[] heights;
if (fp)
fclose(fp);
if (row)
free(row);
if (info_ptr)
png_free_data(png_ptr, info_ptr, PNG_FREE_ALL, -1);
if (png_ptr)
png_destroy_write_struct(&png_ptr, (png_infopp)NULL);
}
Ray PinholeCamera::getRayTo(Vector2 location) {
return Ray(origin, rayDirection(location));
}
