bool IntersectFromTo(HitInfo_s &hi, float f[3], float t[3], map_s *map, unsigned int mask )
{
float d[3], nd[3];
vec3Sub( d, t, f );
vec3Norm( nd, d );
return IntersectRay( hi, f, nd, sqrtf(vec3Dot(d,d)), map, mask );
}
bool PlaneData::SetCorners(double *R, double *t, double f, int w, int h, int ymin, int ymax, int xmin, int xmax)
{
if(xmax==-1) xmax=w;
if(ymax==-1) ymax=h;
if(xmax>w || ymax>h ||xmax<-1 || ymax<-1) printf("Error in bounding box data w=%d h=%d xmin=%d xmax=%d ymin=%d ymax=%d\n",w,h,xmin,xmax,ymin,ymax);
//printf("xmin=%d xmax=%d ymin=%d ymax=%d\n",xmin,xmax,ymin,ymax);
double Rt[9];
matrix_transpose(3, 3, R, Rt);
double center[3];
matrix_product(3, 3, 3, 1, Rt, t, center);
matrix_scale(3, 1, center, -1.0, center);
/* Create rays for the four corners */
//uncomment the follwing code to use the 4 image corners
//double ray1[3] = { -0.5 * w, -0.5 * h, -f };
//double ray2[3] = { 0.5 * w, -0.5 * h, -f };
//double ray3[3] = { 0.5 * w, 0.5 * h, -f };
//double ray4[3] = { -0.5 * w, 0.5 * h, -f };
double ray1[3] = { xmin-0.5 * w, ymin-0.5 * h, -f };
double ray2[3] = { xmax-0.5 * w, ymin-0.5 * h, -f };
double ray3[3] = { xmax -0.5 * w, ymax-0.5 * h, -f };
double ray4[3] = {xmin -0.5 * w, ymax - 0.5 * h, -f };
double ray_world[18];
matrix_product(3, 3, 3, 1, Rt, ray1, ray_world + 0);
matrix_product(3, 3, 3, 1, Rt, ray2, ray_world + 3);
matrix_product(3, 3, 3, 1, Rt, ray3, ray_world + 6);
matrix_product(3, 3, 3, 1, Rt, ray4, ray_world + 9);
double t0 = IntersectRay(center, ray_world + 0, m_corners + 0);
double t1 = IntersectRay(center, ray_world + 3, m_corners + 3);
double t2 = IntersectRay(center, ray_world + 6, m_corners + 6);
double t3 = IntersectRay(center, ray_world + 9, m_corners + 9);
if (t0 > 0.0 && t1 > 0.0 && t2 > 0.0 && t3 > 0.0)
return true;
else
return false;
}
bool GroupModel::IsInsideObject(const Vector3& pos, const Vector3& down, float& z_dist) const
{
if (!triangles.size() || !iBound.contains(pos))
return false;
GModelRayCallback callback(triangles, vertices);
Vector3 rPos = pos - 0.1f * down;
float dist = G3D::inf();
G3D::Ray ray(rPos, down);
bool hit = IntersectRay(ray, dist, false);
if (hit)
z_dist = dist - 0.1f;
return hit;
}
bool GroupModel::IsInsideObject(const Vector3& pos, const Vector3& down, float& z_dist) const
{
if (triangles.empty() || !iBound.contains(pos))
{ return false; }
Vector3 rPos = pos - 0.1f * down;
float dist = G3D::inf();
G3D::Ray ray(rPos, down);
bool hit = IntersectRay(ray, dist, false);
if (hit)
{ z_dist = dist - 0.1f; }
return hit;
}
void CPU_Worker::Intersect(RayBuffer *rayBuffer) {
// Trace rays
const Ray *rb = rayBuffer->GetRayBuffer();
RayHit *hb = rayBuffer->GetHitBuffer();
double start = WallClockTime();
#ifndef __DEBUG
omp_set_num_threads(config->max_threads);
#pragma omp parallel for schedule(guided)
#endif
for (unsigned int i = 0; i < rayBuffer->GetRayCount(); ++i) {
hb[i].SetMiss();
IntersectRay(&rb[i], &hb[i]);
}
profiler->addRayTracingTime(WallClockTime() - start);
profiler->addRaysTraced(rayBuffer->GetSize());
}
