btVector3 PhysicsSystem::getRayPoint(float extent, float mouseX, float mouseY)
{
//get a ray pointing to the center of the viewport
Ray centerRay = mRender.getCamera()->getCameraToViewportRay(mouseX, mouseY);
btVector3 result(centerRay.getPoint(500*extent).x,-centerRay.getPoint(500*extent).z,centerRay.getPoint(500*extent).y); /// \todo make this distance (ray length) configurable
return result;
}
Intersection Triangle::intersect(const Ray &r) const
{
const Vec3t edge1(V1-V0), edge2(V2-V0); // could precalculate
Vec3t pvec(cross(r.getNormal(), edge2));
DefType det=dot(edge1,pvec);
if (det < MM_EPSILON)
return Intersection();
Vec3t tvec(r.getPoint()-V0);
DefType u=dot(tvec,pvec);
if (u < 0 || u > det)
return Intersection();
Vec3t qvec(cross(tvec,edge1));
DefType v=dot(r.getPoint(),qvec);
if (v < 0 || u+v > det)
return Intersection();
DefType t=dot(edge2, qvec)/det;
return Intersection(r.positionAtTime(t), m_normal, t, true, true);
}
std::vector < std::pair <float, std::string> > PhysicsSystem::getFacedObjects ()
{
//get a ray pointing to the center of the viewport
Ray centerRay = mRender.getCamera()->getCameraToViewportRay(
mRender.getViewport()->getWidth()/2,
mRender.getViewport()->getHeight()/2);
btVector3 from(centerRay.getOrigin().x,-centerRay.getOrigin().z,centerRay.getOrigin().y);
btVector3 to(centerRay.getPoint(500).x,-centerRay.getPoint(500).z,centerRay.getPoint(500).y);
return mEngine->rayTest2(from,to);
}
std::pair<std::string, float> PhysicsSystem::getFacedHandle (MWWorld::World& world)
{
std::string handle = "";
//get a ray pointing to the center of the viewport
Ray centerRay = mRender.getCamera()->getCameraToViewportRay(
mRender.getViewport()->getWidth()/2,
mRender.getViewport()->getHeight()/2);
//let's avoid the capsule shape of the player.
centerRay.setOrigin(centerRay.getOrigin() + 20*centerRay.getDirection());
btVector3 from(centerRay.getOrigin().x,-centerRay.getOrigin().z,centerRay.getOrigin().y);
btVector3 to(centerRay.getPoint(500).x,-centerRay.getPoint(500).z,centerRay.getPoint(500).y);
return mEngine->rayTest(from,to);
}
Intersection Quad::intersect(const Ray& ray, float previousBestDistance) const
{
float factor= dot(ray.d,qnormal);
if(factor==0.0) return Intersection::failure();
float t= dot((qv1-ray.o),qnormal)/factor;
if (t> previousBestDistance || t<0.0001) return Intersection::failure();
Point p=ray.getPoint(t);
/****** n = -det(PA, PQ)/det(PQ, PR)
m = det(PA, PR)/det(PQ, PR)
det(PA, PQ) = PA.x*PQ.y-PQ.x*PA.y
******/
bool a = dot(cross(qv2 - qv1, p - qv1), qnormal) >= 0;
bool b = dot(cross(qv4 - qv2, p - qv2), qnormal) >= 0;
bool c = dot(cross(qv3 - qv4, p - qv4), qnormal) >= 0;
bool d = dot(cross(qv1 - qv3, p - qv3), qnormal) >= 0;
if (a && b && c && d)
return Intersection(t, ray, this, qnormal, p);
else
return Intersection::failure();
/*
float n = (qspan1.x * ( p.y - qv1.y) - p.x*qspan1.y + qv1.x*qspan1.y) / (qspan2.y * qspan1.x - qspan2.x*qspan1.y);
if (n < 0 || n > 1) return Intersection::failure();
float m = (p.x - qv1.x - n *qspan2.x) / qspan1.x;
if (m < 0 || m > 1) return Intersection::failure();
return Intersection(t,ray,this,qnormal,p);
*/
}
Spectrum Camera::evaluateWe( const Ray &i_ray, glm::vec2* o_rasterPosition ) const
{
glm::vec3 directionWorld = Transform::transform( glm::vec3( 0.0, 0.0, -1.0 ), m_cameraToWorld );
float cosTheta = glm::dot( i_ray.getDirection(), directionWorld );
// See if they are pointing in the same direction
if ( cosTheta <= 0.0f ) {
return Spectrum::black();
}
// Find point on plane of focus and convert that to
// raster coordinates
float t = ( m_aperature > 0.0f ? m_focalLength : 1.0 ) / cosTheta;
glm::vec3 focusPoint = i_ray.getPoint( t );
glm::vec2 rasterPoint = glm::vec2( glm::inverse( m_rasterToCamera ) *
m_worldToCamera *
glm::vec4( focusPoint, 1.0) );
// Optionally return raster position
if ( o_rasterPosition != nullptr ) {
*o_rasterPosition = glm::vec2( rasterPoint );
}
if ( !m_rasterBounds.isInside( rasterPoint ) ) {
return Spectrum::black();
}
float lensArea = m_aperature == 0.0f ? 1.0f : ( M_PI * m_aperature * m_aperature );
float cos2Theta = cosTheta * cosTheta;
return Spectrum( 1.0f / ( m_area * lensArea * cos2Theta * cos2Theta ) );
}
const Vector3 Lambert::shade(const unsigned int threadID, const Ray& ray, const HitInfo &hit, const Scene& scene, bool isSecondary) const
{
Vector3 L = Vector3(0.0f, 0.0f, 0.0f);
Vector3 rayD = Vector3(ray.d[0],ray.d[1],ray.d[2]); // Ray direction
Vector3 viewDir = -rayD; // View direction
float u, v;
Vector3 N, geoN, T, BT;
Vector3 diffuseColor = m_kd;
Vector3 P = ray.getPoint(hit.t);
hit.getAllInfos(N, geoN, T, BT, u, v);
if (m_colorMap != NULL)
{
Vector4 texCol = m_colorMap->getLookup(u, v);
diffuseColor = Vector3(texCol.x, texCol.y, texCol.z);
}
const Lights *lightlist = scene.lights();
// loop over all of the lights
Lights::const_iterator lightIter;
for (lightIter = lightlist->begin(); lightIter != lightlist->end(); lightIter++)
{
float discard;
Vector3 lightPower = (*lightIter)->sampleLight(threadID, P, N, ray.time, scene, 0, discard);
L += lightPower * diffuseColor; // Calculate Diffuse component
}
// add the ambient component
L += m_ka;
return L;
}
bool OsgSceneObject::intersectRay(const Ray& ray, Vector3f* hitPoint)
{
Vector3f rstart = ray.getOrigin();
// Compute reasonable ray length based on distance between ray origin and
// owner scene node center.
Vector3f center = getOwner()->getBoundCenter();
float dir = (ray.getOrigin() - center).norm();
Vector3f rend = ray.getPoint(dir * 2);
osg::Vec3d orig(rstart[0], rstart[1], rstart[2]);
osg::Vec3d end(rend[0], rend[1], rend[2]);
Ref<osgUtil::LineSegmentIntersector> lsi = new osgUtil::LineSegmentIntersector(orig, end);
osgUtil::IntersectionVisitor iv(lsi);
myTransform->accept(iv);
if(!lsi->containsIntersections()) return false;
osgUtil::LineSegmentIntersector::Intersection i = lsi->getFirstIntersection();
osg::Vec3d intersect = i.getWorldIntersectPoint();
hitPoint->x() = intersect[0];
hitPoint->y() = intersect[1];
hitPoint->z() = intersect[2];
return true;
}
bool pathDrawerState::mouseMoved(const OIS::MouseEvent& e)
{
//cout << _nodoSelector->getName().substr(0,_nodoSelector->getName().find("_")) << endl;
//cout << "mousemove " << _nodoSelector->getName() << endl;
if (InputManager_::getSingletonPtr()->getMouse()->getMouseState().buttonDown(OIS::MB_Left) &&
//_nodoSelector && _nodoSelector->getName() != "PlaneRoadBig") //"track1Big")
_nodoSelector &&
_nodoSelector->getName().substr(0,_nodoSelector->getName().find("_")-1) != _checkPointInfo.nombreNodo)
{
Ray r = setRayQuery(e.state.X.abs, e.state.Y.abs, MASK_CIRCUITO | MASK_MARCA);
RaySceneQueryResult &result = _raySceneQuery->execute();
RaySceneQueryResult::iterator it;
it = result.begin();
if (it != result.end() && it->movable->getParentSceneNode()->getName() == "PlaneRoadBig")
{
Vector3 pos = r.getPoint(it->distance);
pos.y = _planeRoadNode->getPosition().y + 1;
_nodoSelector->setPosition(pos);
recolocarLinea();
}
}
return true;
}
// ---------------------------------------------------------------------------------
bool ConvexPolygon::isHitBy(const Ray& ray) const {
// Create a RayStart->Edge defined plane.
// If the intersection of the ray to the polygon's plane is inside for all the planes, it is inside the poly
// By inside, I mean the point is on positive side of the plane
std::pair<bool, Real> intersection = ray.intersects(mPlane);
if (!intersection.first)
return false;
// intersection point
Vector3 ip = ray.getPoint(intersection.second);
Vector3 origin = ray.getOrigin();
unsigned int pointcount = mPoints.size();
for (unsigned int idx = 0; idx < pointcount; idx++) {
int iv2 = (idx + 1) % pointcount;
Vector3 v1 = mPoints[idx];
Vector3 v2 = mPoints[iv2];
Plane frp(origin, v1, v2);
// test whether the intersection is inside
if (frp.getSide(ip) != Plane::POSITIVE_SIDE)
return false;
}
return true;
}
LRESULT Canvas::OnLeftButtonDown( UINT uMsg, WPARAM wParam, LPARAM lParam, BOOL& bHandled )
{
//
int x = GET_X_LPARAM(lParam);
int y = GET_Y_LPARAM(lParam);
//_cameraController.onLeftButtonDown(x,y);
bHandled = false;
//拾取射线
Ray r = _camera.getCameraToViewportRay(x, y);
//与xz平面的交点
Real t = -r._origin.y / r._direction.y;
Vec3 p = r.getPoint(t);
Vec3 ap = _getActorPosition();
p -= ap;
Real len = p.length();
_positionSpeed = 0.010f / len;
//目标点
_setActorPosition(p);
//调整主角方向
Quaternion q;
Radian angle = Euler::Basic::ATan2(p.x, p.z);
q.FromAngleAxis(angle, Vec3::UNIT_Y);
_angleSpeed = 0.01f;
_setActorAngle(q);
return 0;
}
// this is called at simulation time
void DemoApplication::UpdateMousePick ()
{
bool mouseKey1 = m_mouseState.buttonDown(OIS::MB_Left);
OgreNewtonRayPickManager* const rayPicker = m_physicsWorld->GetRayPickManager();
if (m_keyboard->isKeyDown(OIS::KC_LCONTROL) || m_keyboard->isKeyDown(OIS::KC_RCONTROL)) {
m_cursor->setVisible(true);
if (mouseKey1) {
Real mx = Real (m_mouseState.X.abs) / Real(m_mouseState.width);
Real my = Real (m_mouseState.Y.abs) / Real(m_mouseState.height);
Ray camray (mCamera->getCameraToViewportRay(mx, my));
Vector3 start (camray.getOrigin());
Vector3 end (camray.getPoint (200.0f));
if (!m_mousePickMemory) {
rayPicker->SetPickedBody (NULL);
dNewtonBody* const body = rayPicker->RayCast (start, end, m_pickParam);
if (body) {
rayPicker->SetPickedBody (body, start + (end - start) * m_pickParam);
}
} else {
rayPicker->SetTarget (start + (end - start) * m_pickParam);
}
} else {
rayPicker->SetPickedBody (NULL);
}
} else {
m_cursor->setVisible(false);
rayPicker->SetPickedBody (NULL);
}
m_mousePickMemory = mouseKey1;
}
IntersectResult Sphere::intersect(Ray &ray)
{
IntersectResult result(false);
// Solve:
// | (o + t * dir) - c | = radius
// ==> ( co + t * dir ) ^ 2 - radius ^ 2 = 0
// ==> dir * dir * t ^ 2 + 2 * dir.co * t + (co.co - radius * radius) = 0
// ==> t ^ 2 + (2 * dir.co) * t + (co.co - radius * radius) = 0
// ==> t = - dir.co +- sqr((dir.co * dir.co) - (co.co - radius * radius))
Vector co = Vector(center, ray.origin);
double b = ray.direction.dot(co);
double delta = b * b - (co.dot(co) - radius * radius);
if (delta >= 0)
{
delta = sqrt(delta);
if (-b + delta >= 0.0005f)
{
result.hit = true;
result.geometry = this;
//result.distance = (-b - delta >= 0.0005f) ? -b - delta : -b + delta;
result.distance = -b; // in the SBR algorithm, there should be only one intersection
result.position = ray.getPoint(result.distance);
result.normal = Vector(center, result.position).norm();
}
}
return result;
}
void Global::updatePickingPoint_()
{
Ray r = getRenderContex()->getPickingRay();
float x, z;
if (0)
{
//对于平面地表，可以这样处理
float t = -r.origion_.y / r.direction_.y;
x = r.origion_.x + t * r.direction_.x;
z = r.origion_.z + t * r.direction_.z;
}
else
{
sPick pk;
pk.empty_ = true;
calcPick(pk, r, getSceneManager()->getTerrainQuadTreeRoot());
if (pk.empty_)
{
return;
}
Vector3 p = r.getPoint(pk.ps_.z);
p = (1 - pk.ps_.x - pk.ps_.y)*pk.p0_ + pk.ps_.x*pk.p1_ + pk.ps_.y*pk.p2_;
x = p.x;
z = p.z;
}
if (getSceneManager()->getTerrain())
{
getSceneManager()->getTerrain()->updateVisibleChunks(x, z);
}
if (getGlobal() && getGlobal()->getBrushDecal())
{
getGlobal()->getBrushDecal()->setCenter(Vector4(x, 0, z, 1));
}
}
// Dibujado de raycast para depurar
void CShootRaycast::drawRaycast(const Ray& raycast) {
Graphics::CScene *scene = Graphics::CServer::getSingletonPtr()->getActiveScene();
Ogre::SceneManager *mSceneMgr = scene->getSceneMgr();
std::stringstream aux;
aux << "laser" << _nameWeapon << _temporal;
++_temporal;
std::string laser = aux.str();
Ogre::ManualObject* myManualObject = mSceneMgr->createManualObject(laser);
Ogre::SceneNode* myManualObjectNode = mSceneMgr->getRootSceneNode()->createChildSceneNode(laser+"_node");
myManualObject->begin("laser", Ogre::RenderOperation::OT_LINE_STRIP);
Vector3 v = raycast.getOrigin();
myManualObject->position(v.x,v.y,v.z);
for(int i=0; i < _distance;++i){
Vector3 v = raycast.getPoint(i);
myManualObject->position(v.x,v.y,v.z);
// etc
}
myManualObject->end();
myManualObjectNode->attachObject(myManualObject);
}// drawRaycast
bool TutorialApplication::mouseMoved(const OIS::MouseEvent &arg)
{
auto ret = BaseApplication::mouseMoved(arg);
// std::cout << "moust at ("
// << arg.state.X.abs << ","
// << arg.state.Y.abs << ","
// << arg.state.Z.abs << ")" << std::endl;
// std::cout << "plane at Y = " << m_activeLevel.d << std::endl;
Ray mouseRay = getMouseRay();
if (m_verticalMode) {
// ignored for now, untill I figure out how to make it intuitive
} else {
auto r = mouseRay.intersects(m_activeLevel);
if (r.first) {
auto pos = mouseRay.getPoint(r.second);
auto gridPos =
Vector3(floor(pos.x / GRID_SPACING) * GRID_SPACING,
pos.y,
floor(pos.z / GRID_SPACING) * GRID_SPACING);
m_cursorNode->setPosition(gridPos);
auto pointPos =
Vector3(round(pos.x / GRID_SPACING) * GRID_SPACING,
pos.y,
round(pos.z / GRID_SPACING) * GRID_SPACING);
m_pointNode->setPosition(pointPos);
if (m_mode == WitchMode) {
for (std::size_t i = 0; i < CONE_CASES.size(); i++) {
auto c = CONE_CASES[i];
bool containsCreatures = true;
for (Vector3 creature : m_ogres) {
Vector3 dir = creature - gridPos;
// cone is facing wrong way for creature
if (dir.angleBetween(c) > Degree(45)) {
containsCreatures = false;
break;
}
// creature too far away for cone
if (distance3(dir.x, dir.y, dir.z) > CONE_SIZE) {
containsCreatures = false;
}
}
if (containsCreatures) {
m_coneNodes[i]->setVisible(true);
} else {
m_coneNodes[i]->setVisible(false);
}
}
}
}
}
return ret;
}
void GlyphFace::_fullIntersect(const Ray& world_ray, const double world_t, Intersection& result) const {
Ray ray = rayToObject(world_ray);
double t = world_t*ray.t_scale;
Vector p = ray.getPoint(t);
Vector2 uv; // No support for UV-coordinates
result = Intersection(p,t,normal,uv);
intersectionToWorld(result);
}
// ray r1 started at time t1 minus ray r2 started at time t2
Ray rayMinusRay(const Ray& r1, float t1,
const Ray& r2, float t2)
{
// get points at respective times
float p1[3], p2[3];
r1.getPoint(t1, p1);
r2.getPoint(t2, p2);
// construct new ray
float p[3], d[3];
p[0] = p1[0] - p2[0];
p[1] = p1[1] - p2[1];
p[2] = p1[2] - p2[2];
d[0] = r1.getDirection()[0] - r2.getDirection()[0];
d[1] = r1.getDirection()[1] - r2.getDirection()[1];
d[2] = r1.getDirection()[2] - r2.getDirection()[2];
return Ray(p, d);
}
void Sphere::_fullIntersect(const Ray& ray, const double t, Intersection& result) const {
Vector p = ray.getPoint(t);
Vector n = p - center;
n.normalize();
Vector2 uv;
if (getMaterial() != NULL && getMaterial()->requiresUV()) {
//cout << "Getting UV" << endl;
uv = getUV(n);
}
result = Intersection(p,t,n,uv);
}
std::vector < std::pair <float, std::string> > PhysicsSystem::getFacedObjects (float mouseX, float mouseY)
{
Ray ray = mRender.getCamera()->getCameraToViewportRay(mouseX, mouseY);
Ogre::Vector3 from = ray.getOrigin();
Ogre::Vector3 to = ray.getPoint(500); /// \todo make this distance (ray length) configurable
btVector3 _from, _to;
// OGRE to MW coordinates
_from = btVector3(from.x, -from.z, from.y);
_to = btVector3(to.x, -to.z, to.y);
return mEngine->rayTest2(_from,_to);
}
//intersect
Intersection InfinitePlane::intersect(const Ray& ray, float previousBestDistance) const
{
float x = dot(ray.d_, normal_);
if (std::abs(x)<epsilon)
{
return Intersection::failure();
}
float distance = (dot(Vector(origin_.x_, origin_.y_, origin_.z_), normal_) - dot(Vector(ray.o_.x_, ray.o_.y_, ray.o_.z_), normal_)) / x;
return Intersection(distance, ray, this, normal_, ray.getPoint(distance), true);
}
bool CubeCollider::raycastALT(const Ray & ray, RaycastHit & hitInfo){
glm::vec3 position = object->getTransform()->getPosition();
glm::vec3 dirToCenter = ray.origin - position;
if(glm::dot(ray.direction, dirToCenter) >= 0){
//std::cout << "ray is going in a different direction" << std::endl;
return false;
}
transformNormals();
Plane planes[6];
for(int i = 0; i < 6; i ++){
planes[i] = Plane(transformedNormals[i],position + center + (transformedNormals[i] * size * .5f) );
}
for(int i = 0; i < 6; i ++){
bool viable = true;
Plane plane = planes[i];
float enter;
if(plane.raycast(ray, enter)){
glm::vec3 point = ray.getPoint(enter);
for(int j = 0; j < 6; j++){
if(i == j) continue;
if(glm::dot(planes[i].normal, point - planes[i].point ) >= 0){
//point is behind plane
}
else{
//point is in front of plane
viable = false;
break;
}
}
if(viable){
hitInfo.point = point;
hitInfo.distance = enter;
hitInfo.normal = transformedNormals[i];
hitInfo.object = object;
return true;
}
}
else{
// a ray missed one of the faces
return false;
}
}
return false;
}
void ExtrudedCurve::_fullIntersect(const Ray& world_ray, const double world_t, Intersection& result) const {
Ray ray = rayToObject(world_ray);
double t = world_t*ray.t_scale;
Vector p = ray.getPoint(t);
Vector2 along = b(findClosestT(ray) + EPSILON);
Vector p2 = p - Vector(along.x(), along.y(), p.z());
Vector p3 = p - Vector(p.x(), p.y(), p.z() - EPSILON);
Vector n = Vector::xProduct(p3,p2);
n.normalize();
Vector2 uv; // No support for UV-coordinates
result = Intersection(p,t,n,uv);
intersectionToWorld(result);
}
bool Bullet::raycast(const Ray& ray, PhysicsIntersectResult& result) const
{
auto endPoint = ray.getPoint(MaxRayDistance);
auto intersections = Vector<PhysicsIntersectResult>();
auto callback = RayResultCollector(ray, intersections);
dynamicsWorld_->rayTest(toBullet(ray.getOrigin()), toBullet(endPoint), callback);
if (intersections.empty())
return false;
intersections.sort();
result = intersections[0];
return true;
}
Intersection InfinitePlane::intersect(const Ray& ray, float previousBestDistance) const
{
float temp = dot(ray.d , normal);
float distance = dot((origin - ray.o), normal) / temp;
Point hit = ray.getPoint(distance);
Point local = Point(hit.x - origin.x, hit.y - origin.y, hit.z - origin.z);
if(distance > epsilon && distance + epsilon < previousBestDistance) {
float dir = dot(ray.o - origin, normal);
if(dir < 0) {
return Intersection(distance, ray, this, -normal, local);
} else if(dir > 0) {
return Intersection(distance, ray, this, normal, local);
}
}
return Intersection::failure();
}
double GlyphFace::_fastIntersect(const Ray& world_ray) const {
Ray ray = rayToObject(world_ray);
Vector d = ray.getDirection();
Vector o = ray.getOrigin();
// Find the point p where the ray intersects the xy-plane
if (d.z() == 0) return -1;
double t = -o.z() / d.z();
if (t < EPSILON) return -1;
Vector pp = ray.getPoint(t);
Vector2 p = Vector2(pp.x(), pp.y());
// Make sure that the intersection point p is inside the glyph.
if (!glyph->isInside(p)) return -1;
// Return the t in world scale
return t / ray.t_scale;
}
Real Chunks::getHeight( Real x, Real z )
{
Real height = 0.0f;
//遍历顶点，筛选出地形圆覆盖的顶点
for (size_t i = 0; i != mChunks.size(); ++i)
{
Chunk* c = mChunks[i];
//先过滤大部分的chunk
{
//如何判断一个点是否在一个正方形？
Vec3 leftLow = mPosition + Vec3(scChunkSize * c->mPostion.x, 0.0f, -scChunkSize * c->mPostion.y);
Real maxX = leftLow.x + scChunkSize;
Real minX = leftLow.x;
Real maxZ = leftLow.z;
Real minZ = leftLow.z - scChunkSize;
if (x < minX || x > maxX || z < minZ || z > maxZ)
{
continue;
}
}
Mat4 m;
m.makeTransform(mPosition + Vec3(scChunkSize * c->mPostion.x, 0.0f, -scChunkSize * c->mPostion.y), Vec3(scChunkSize, 1.0f, scChunkSize), Quaternion::IDENTITY);
std::vector<Real> ts;
Vec3 p = Vec3(x, 0.0f, z);
Ray r;
r._direction = Vec3::NEGATIVE_UNIT_Y;
r._origin = Vec3(x, 100000.0f, z);
for (size_t k = 0; k != c->mIndices.size(); k += 3)
{
Vec3 p0 = m * c->mVertices[c->mIndices[k]];
Vec3 p1 = m * c->mVertices[c->mIndices[k + 1]];
Vec3 p2 = m * c->mVertices[c->mIndices[k + 2]];
std::pair<bool, Real> result = Zen::intersects(r, p0, p1, p2);
if (result.first)
{
height = r.getPoint(result.second).y;
return height;
}
}
}
return height;
}
Color Object::phongReflectionColor(const Ray &ray, const Point &P, Scene* scene) const {
Object* tempObject;
Point tempPoint;
double L_N, R_V_alpha;
Vector N = normalAtPoint(P), L, R;
Vector V = Vector(P, ray.getPoint()).normalize();
Color ambiant = scene->getAmbiantColor(), lightColor;
double red = Ka[0] * ambiant.R,
green = Ka[1] * ambiant.G,
blue = Ka[2] * ambiant.B;
std::vector<Light*>::const_iterator l;
for (l = scene->lightsBegin(); l != scene->lightsEnd(); ++l) {
L = Vector(P, (*l)->getSource()).normalize();
if (L * N < 0)
continue;
scene->firstObjectHitByRay(Ray((*l)->getSource(), L * (-1)), tempObject,
tempPoint);
if (tempObject != this)
continue;
lightColor = (*l)->getColor();
R = L.reflectedBy(N);
L_N = L * N;
R_V_alpha = pow(R * V, alpha);
red += lightColor.R * (Kd[0] * L_N + Ks[0] * R_V_alpha);
green += lightColor.G * (Kd[1] * L_N + Ks[1] * R_V_alpha);
blue += lightColor.B * (Kd[2] * L_N + Ks[2] * R_V_alpha);
}
return Color((unsigned char)((red > 255) ? 255 : red),
(unsigned char)((green > 255) ? 255 : green),
(unsigned char)((blue > 255) ? 255 : blue));
}
void SceneMouse::update(float dt)
{
if (App::sim_state.GetActive() == SimState::PAUSED) { return; } // Do nothing when paused
if (mouseGrabState == 1 && grab_truck)
{
// get values
Ray mouseRay = getMouseRay();
lastgrabpos = mouseRay.getPoint(mindist);
// update visual line
pickLine->beginUpdate(0);
pickLine->position(grab_truck->nodes[minnode].AbsPosition);
pickLine->position(lastgrabpos);
pickLine->end();
// add forces
grab_truck->mouseMove(minnode, lastgrabpos, mouseGrabForce);
}
}
std::pair<bool, Vector3> TerrainInfo::rayIntersects(const Ray& ray) const
{
AxisAlignedBox box = getExtents();
Vector3 point = ray.getOrigin();
Vector3 dir = ray.getDirection();
// first, does the ray start from inside the terrain extents?
if (!box.contains(point))
{
// not inside the box, so let's see if we are actually
// colliding with it
pair<bool, Real> res = ray.intersects(box);
if (!res.first)
return make_pair(false, Vector3::ZERO);
// update point to the collision position
point = ray.getPoint(res.second);
}
// now move along the ray until we intersect or leave the bounding box
while (true)
{
// have we arived at or under the terrain height?
// note that this approach means that ray queries from below won't work
// correctly, but then again, that shouldn't be a usual case...
float height = getHeightAt(point.x, point.z);
if (point.y <= height)
{
point.y = height;
return make_pair(true, point);
}
// move further...
point += dir;
// check if we are still inside the boundaries
if (point.x < box.getMinimum().x || point.z < box.getMinimum().z
|| point.x > box.getMaximum().x || point.z > box.getMaximum().z)
return make_pair(false, Vector3::ZERO);
}
}
