bool RayIntersectTriangle( XMVECTOR xmvOrigin
, XMVECTOR xmvDirection
, XMVECTOR xmvP0
, XMVECTOR xmvP1
, XMVECTOR xmvP2
, float *pfU
, float *pfV
, float *pfRayToTriangle
)
{
XMVECTOR xmvEdge1 = xmvP1 - xmvP0;
XMVECTOR xmvEdge2 = xmvP2 - xmvP0;
XMVECTOR xmvP, xmvQ;
xmvP = XMVector3Cross(xmvDirection, xmvEdge2);
XMVECTOR xmvA = XMVector3Dot(xmvEdge1, xmvP);
if (XMVector3Equal(xmvA, XMVectorZero())) return(false);
float f = 1.0f / XMVectorGetX(xmvA);
XMVECTOR d3dxvP0ToOrigin = xmvOrigin - xmvP0;
*pfU = f * XMVectorGetX(XMVector3Dot(d3dxvP0ToOrigin, xmvP));
if ((*pfU < 0.0f) || (*pfU > 1.0f)) return(false);
xmvQ = XMVector3Cross(d3dxvP0ToOrigin, xmvEdge1);
*pfV = f * XMVectorGetX(XMVector3Dot(xmvDirection, xmvQ));
if ((*pfV < 0.0f) || ((*pfU + *pfV) > 1.0f)) return(false);
*pfRayToTriangle = f * XMVectorGetX(XMVector3Dot(xmvEdge2, xmvQ));
return(*pfRayToTriangle >= 0.0f);
}
_Use_decl_annotations_
__forceinline void __vectorcall FindBarycentricCoordinates(FXMVECTOR a, FXMVECTOR b, FXMVECTOR c, FXMVECTOR p, float* s, float* r, float* t)
{
XMVECTOR u = b - a;
XMVECTOR v = c - a;
XMVECTOR w = p - a;
XMVECTOR vCrossW = XMVector3Cross(v, w);
XMVECTOR vCrossU = XMVector3Cross(v, u);
// Validate r is positive (should be if p is in triangle)
assert(XMVector2GreaterOrEqual(XMVector3Dot(vCrossW, vCrossU), XMVectorZero()));
XMVECTOR uCrossW = XMVector3Cross(u, w);
XMVECTOR uCrossV = XMVector3Cross(u, v);
// Validate t is positive (should be if p is in triangle)
assert(XMVector2GreaterOrEqual(XMVector3Dot(uCrossW, uCrossV), XMVectorZero()));
XMVECTOR denom = XMVector3Length(uCrossV);
XMVECTOR R = XMVector3Length(vCrossW) / denom;
XMVECTOR T = XMVector3Length(uCrossW) / denom;
assert(XMVector2LessOrEqual(R + T, XMVectorSet(1, 1, 1, 1)));
*r = XMVectorGetX(R);
*t = XMVectorGetX(T);
*s = 1 - (*r) - (*t);
}
bool CPUTModel_CPRT::IntersectFace( const XMVECTOR &rayOrigin, const XMVECTOR &rayDirection,
const XMVECTOR &vertexOne, const XMVECTOR &vertexTwo, const XMVECTOR &vertexThree,
const XMVECTOR &vertexFour)
{
for(int i = 0; i < 2; ++i)
{
XMVECTOR edge1 = (i==0) ? vertexOne-vertexTwo : vertexOne-vertexFour;
XMVECTOR edge2 = (i==0) ? vertexThree-vertexTwo : vertexThree-vertexFour;
XMVECTOR crossWithPickRay = XMVector3Cross(rayDirection, edge2);
float otherEdgeProjection = XMVectorGetX( XMVector3Dot(edge1, crossWithPickRay) );
XMVECTOR tvec = (otherEdgeProjection > 0) ? (i==0 ? rayOrigin - vertexTwo : rayOrigin - vertexFour) : (i==0 ? vertexTwo - rayOrigin : vertexFour - rayOrigin);
otherEdgeProjection = (otherEdgeProjection > 0) ? otherEdgeProjection : - otherEdgeProjection;
if(otherEdgeProjection < 0.0001f)
continue;
float u = XMVectorGetX( XMVector3Dot( tvec, crossWithPickRay ) );
if( u < 0.0f || u > otherEdgeProjection )
continue;
XMVECTOR qvec = XMVector3Cross( tvec, edge1 );
float v = XMVectorGetX( XMVector3Dot( rayDirection, qvec ) );
if ( v < 0.0f || u + v > otherEdgeProjection )
continue;
return true;
}
return false;
}
bool D3DPicking::PointInTriangle(XMVECTOR& triV1, XMVECTOR& triV2, XMVECTOR& triV3, XMVECTOR& point )
{
//To find out if the point is inside the triangle, we will check to see if the point
//is on the correct side of each of the triangles edges.
XMVECTOR cp1 = XMVector3Cross((triV3 - triV2), (point - triV2));
XMVECTOR cp2 = XMVector3Cross((triV3 - triV2), (triV1 - triV2));
if(XMVectorGetX(XMVector3Dot(cp1, cp2)) >= 0)
{
cp1 = XMVector3Cross((triV3 - triV1), (point - triV1));
cp2 = XMVector3Cross((triV3 - triV1), (triV2 - triV1));
if(XMVectorGetX(XMVector3Dot(cp1, cp2)) >= 0)
{
cp1 = XMVector3Cross((triV2 - triV1), (point - triV1));
cp2 = XMVector3Cross((triV2 - triV1), (triV3 - triV1));
if(XMVectorGetX(XMVector3Dot(cp1, cp2)) >= 0)
{
return true;
}
else
return false;
}
else
return false;
}
return false;
}
void TrackingCamera::Update(float deltaTime, float totalTime)
{
XMVECTOR vPosition = XMLoadFloat3(&position);
XMVECTOR vForward = XMLoadFloat3(&forward);
XMVECTOR vTarget = XMLoadFloat3(&(target->GetTranslation()));
XMVECTOR vUp = XMLoadFloat3(&up);
//get vector to object from camera
XMVECTOR vToObject = vTarget - vPosition;
//get vector projection and rejection of toObject onto forward
XMVECTOR vProjection = (XMVector3Dot(vToObject, vForward) / XMVector3Dot(vForward, vForward)) * vForward;
XMVECTOR vRejection = vToObject - vProjection;
//multiply rejection by trackStrength
vRejection = vRejection * trackStrength;
//add projection and multiplied rejection
XMVECTOR vDirection = vProjection + vRejection;
//use new vector as look to
XMMATRIX mViewMat = XMMatrixLookToLH(vPosition, vDirection, vUp);
XMStoreFloat4x4(&viewMat, XMMatrixTranspose(mViewMat));
}
float Terrain::computeTriangleIntersection(const Ray& ray, const XMVECTOR triangle[3])
{
XMVECTOR e1 = triangle[1] - triangle[0];
XMVECTOR e2 = triangle[2] - triangle[0];
XMVECTOR q = XMVector3Cross(ray.direction, e2);
const float a = XMVectorGetX(XMVector3Dot(e1, q));
if (a > -std::numeric_limits<float>::epsilon() && a < std::numeric_limits<float>::epsilon())
return -1.f;
const float f = 1.f / a;
XMVECTOR s = ray.origin - triangle[0];
const float u = f * XMVectorGetX(XMVector3Dot(s, q));
if (u < 0.f)
return -1.f;
XMVECTOR r = XMVector3Cross(s, e1);
const float v = f * XMVectorGetX(XMVector3Dot(ray.direction, r));
if (v < 0.f || u + v > 1.f)
return -1.f;
return f * XMVectorGetX(XMVector3Dot(e2, r));
}
void Camera::UpdateViewMatrix()
{
XMVECTOR R = XMLoadFloat3(&mRight);
XMVECTOR U = XMLoadFloat3(&mUp);
XMVECTOR L = XMLoadFloat3(&mLook);
XMVECTOR P = XMLoadFloat3(&mPosition);
// Keep camera's axes orthogonal to each other and of unit length.
L = XMVector3Normalize(L);
U = XMVector3Normalize(XMVector3Cross(L, R));
// U, L already ortho-normal, so no need to normalize cross product.
R = XMVector3Cross(U, L);
// Fill in the view matrix entries.
float x = -XMVectorGetX(XMVector3Dot(P, R));
float y = -XMVectorGetX(XMVector3Dot(P, U));
float z = -XMVectorGetX(XMVector3Dot(P, L));
XMStoreFloat3(&mRight, R);
XMStoreFloat3(&mUp, U);
XMStoreFloat3(&mLook, L);
/*
mView(0,0) = mRight.x;
mView(1,0) = mRight.y;
mView(2,0) = mRight.z;
mView(3,0) = x;
mView(0,1) = mUp.x;
mView(1,1) = mUp.y;
mView(2,1) = mUp.z;
mView(3,1) = y;
mView(0,2) = mLook.x;
mView(1,2) = mLook.y;
mView(2,2) = mLook.z;
mView(3,2) = z;
mView(0,3) = 0.0f;
mView(1,3) = 0.0f;
mView(2,3) = 0.0f;
mView(3,3) = 1.0f;
*/
}
_Use_decl_annotations_
bool __vectorcall ShapeCast(const XMFLOAT3& posA, const XMFLOAT3& moveA, SupportMapping* supA,
const XMFLOAT3& posB, const XMFLOAT3& moveB, SupportMapping* supB,
XMFLOAT3* normal, float* distance)
{
XMVECTOR s = XMLoadFloat3(&posA);
XMVECTOR r = XMVectorSubtract(XMLoadFloat3(&moveA), XMLoadFloat3(&moveB));
XMVECTOR lambda = XMVectorZero();
XMVECTOR x = s;
XMVECTOR v = x - XMLoadFloat3(&posB);
XMVECTOR vDotR;
XMVECTOR p;
XMVECTOR w;
XMVECTOR simplexP[5] = {};
uint32_t bits = 0;
*distance = 0.0f;
*normal = XMFLOAT3(0, 0, 0);
XMVECTOR e2 = g_XMEpsilon * g_XMEpsilon;
uint32_t iterations = 0;
while (XMVector2Greater(XMVector3LengthSq(v), e2) && iterations++ < 1000)
{
v = XMVector3Normalize(v);
p = supA->GetSupportPoint(v) + supB->GetSupportPoint(v);
w = x - p;
if (XMVector2Greater(XMVector3Dot(v, w), XMVectorZero()))
{
vDotR = XMVector3Dot(v, r);
if (XMVector2GreaterOrEqual(vDotR, XMVectorZero()))
{
return false;
}
lambda = lambda - XMVector3Dot(v, w) / vDotR;
if (XMVector2Greater(lambda, XMVectorSet(1, 1, 1, 1)))
{
return false;
}
x = s + lambda * r;
XMStoreFloat3(normal, v);
}
AddPoint(simplexP, p, &bits);
v = FindSupportVectorAndReduce(simplexP, x, &bits);
}
*distance = XMVectorGetX(lambda);
return true;
}
void Camera::Update()
{
if (m_HasMoved)
{
XMVECTOR t_Right = XMLoadFloat3(&m_Right);
XMVECTOR t_Up = XMLoadFloat3(&m_Up);
XMVECTOR t_Look = XMLoadFloat3(&m_Look);
XMVECTOR t_Pos = XMLoadFloat3(&m_Position);
//
// Orthonormalize the right, up and look vectors.
//
// Make look vector unit length.
t_Look = XMVector3Normalize(t_Look);
// Compute a new corrected "up" vector and normalize it.
t_Up = XMVector3Normalize(XMVector3Cross(t_Look, t_Right));
// Compute a new corrected "right" vector.
t_Right = XMVector3Cross(t_Up, t_Look);
//
// Fill in the view matrix entries.
//
float t_X = -XMVectorGetX(XMVector3Dot(t_Pos, t_Right));
float t_Y = -XMVectorGetX(XMVector3Dot(t_Pos, t_Up));
float t_Z = -XMVectorGetX(XMVector3Dot(t_Pos, t_Look));
XMStoreFloat3(&m_Right, t_Right);
XMStoreFloat3(&m_Up, t_Up);
XMStoreFloat3(&m_Look, t_Look);
m_View(0, 0) = m_Right.x;
m_View(1, 0) = m_Right.y;
m_View(2, 0) = m_Right.z;
m_View(3, 0) = t_X;
m_View(0, 1) = m_Up.x;
m_View(1, 1) = m_Up.y;
m_View(2, 1) = m_Up.z;
m_View(3, 1) = t_Y;
m_View(0, 2) = m_Look.x;
m_View(1, 2) = m_Look.y;
m_View(2, 2) = m_Look.z;
m_View(3, 2) = t_Z;
m_View(0, 3) = 0.0f;
m_View(1, 3) = 0.0f;
m_View(2, 3) = 0.0f;
m_View(3, 3) = 1.0f;
m_HasMoved = false;
}
}
void Camera:: UpdateViewMatrix()
{
XMVECTOR R = XMLoadFloat3(&mRight);
XMVECTOR U = XMLoadFloat3(&mUp);
XMVECTOR L = XMLoadFloat3(&mLook);
XMVECTOR P = XMLoadFloat3(&mPosition);
//
// Orthonormalize the right, up and look vectors.
//
// Make look vector unit length.
L = XMVector3Normalize(L);
// Compute a new corrected "up" vector and normalize it.
U = XMVector3Normalize(XMVector3Cross(L, R));
// Compute a new corrected "right" vector. U and L are
// already ortho-normal, so no need to normalize cross product.
// ||up × look|| = ||up|| ||look|| sin90° = 1
R = XMVector3Cross(U, L);
//
// Fill in the view matrix entries.
//
float x = -XMVectorGetX(XMVector3Dot(P, R));
float y = -XMVectorGetX(XMVector3Dot(P, U));
float z = -XMVectorGetX(XMVector3Dot(P, L));
XMStoreFloat3(&mRight, R);
XMStoreFloat3(&mUp, U);
XMStoreFloat3(&mLook, L);
mView(0,0) = mRight.x;
mView(1,0) = mRight.y;
mView(2,0) = mRight.z;
mView(3,0) = x;
mView(0,1) = mUp.x;
mView(1,1) = mUp.y;
mView(2,1) = mUp.z;
mView(3,1) = y;
mView(0,2) = mLook.x;
mView(1,2) = mLook.y;
mView(2,2) = mLook.z;
mView(3,2) = z;
mView(0,3) = 0.0f;
mView(1,3) = 0.0f;
mView(2,3) = 0.0f;
mView(3,3) = 1.0f;
}
XMVECTOR MathHelper::RandHemisphereUnitVec3(XMVECTOR n)
{
XMVECTOR One = XMVectorSet(1.0f, 1.0f, 1.0f, 1.0f);
XMVECTOR Zero = XMVectorZero();
// Keep trying until we get a point on/in the hemisphere.
while(true)
{
// Generate random point in the cube [-1,1]^3.
XMVECTOR v = XMVectorSet(MathHelper::RandF(-1.0f, 1.0f), MathHelper::RandF(-1.0f, 1.0f), MathHelper::RandF(-1.0f, 1.0f), 0.0f);
// Ignore points outside the unit sphere in order to get an even distribution
// over the unit sphere. Otherwise points will clump more on the sphere near
// the corners of the cube.
if( XMVector3Greater( XMVector3LengthSq(v), One) )
continue;
// Ignore points in the bottom hemisphere.
if( XMVector3Less( XMVector3Dot(n, v), Zero ) )
continue;
return XMVector3Normalize(v);
}
}
_Use_decl_annotations_
void BspCompiler::SplitEdge(const Vertex& v0, const Vertex& v1, const XMFLOAT4& plane, Vertex* v)
{
XMFLOAT3 vv0 = v0.Position;
XMFLOAT3 vv1 = v1.Position;
float d0 = DistToPlane(plane, vv0);
XMVECTOR sub = XMVectorSubtract(XMLoadFloat3(&vv1), XMLoadFloat3(&vv0));
XMVECTOR dir = XMVector3Normalize(sub);
XMVECTOR n = XMLoadFloat4(&plane);
float d = d0;
if (d > 0)
{
n = XMVectorNegate(n);
}
else if (d < 0)
{
d = -d;
}
else
{
assert(false);
}
float x = d / XMVectorGetX(XMVector3Dot(n, dir));
XMStoreFloat3(&v->Position, XMVectorAdd(XMLoadFloat3(&vv0), XMVectorScale(dir, x)));
}
f32 Vector::dot(const Vector& vec) const
{
XMVECTOR vecDot = XMVector3Dot(m_vector, vec.getXMVector());
XMFLOAT4 fDot;
XMStoreFloat4(&fDot, vecDot);
return fDot.x;
}
bool bounding_sphere::contains(const point & point) const
{
xvector dist(origin - point);
float squared = math::point(XMVector3Dot(dist, dist))[axis::x];
return squared < std::pow(get_radius(), 2);
}
_Use_decl_annotations_
void KdTreeCompiler2::SplitEdge(_In_ const StaticGeometryVertex& v0, _In_ const StaticGeometryVertex& v1, uint32_t axis, float value, _Out_ StaticGeometryVertex* v)
{
XMFLOAT3 vv0 = v0.Position;
XMFLOAT3 vv1 = v1.Position;
float d0 = *(&vv0.x + axis) - value;
XMVECTOR sub = XMVectorSubtract(XMLoadFloat3(&vv1), XMLoadFloat3(&vv0));
XMVECTOR dir = XMVector3Normalize(sub);
XMVECTOR n = XMLoadFloat3(&_normals[axis]);
float d = d0;
if (d > 0)
{
n = XMVectorNegate(n);
}
else if (d < 0)
{
d = -d;
}
else
{
assert(false);
}
float x = d / XMVectorGetX(XMVector3Dot(n, dir));
XMStoreFloat3(&v->Position, XMVectorAdd(XMLoadFloat3(&vv0), XMVectorScale(dir, x)));
}
void Camera::updateViewMatrix()
{
//TODO: use XMatrixLookAt built in?
// A partir de la view matrix on peut aller chercher les elements (position, up, look) si je me souviens bien
XMVECTOR R = XMLoadFloat3(&m_right);
XMVECTOR U = XMLoadFloat3(&m_up);
XMVECTOR L = XMLoadFloat3(&m_look);
XMVECTOR P = XMLoadFloat3(&m_position);
// Keep camera's axes orthogonal to each other and of unit length.
// Necessary because after several rotations numerical errors can accumulate
L = XMVector3Normalize(L);
U = XMVector3Normalize(XMVector3Cross(L, R));
// U, L already ortho-normal, so no need to normalize cross product.
R = XMVector3Cross(U, L);
// Fill in the view matrix entries.
float x = -XMVectorGetX(XMVector3Dot(P, R));
float y = -XMVectorGetX(XMVector3Dot(P, U));
float z = -XMVectorGetX(XMVector3Dot(P, L));
XMStoreFloat3(&m_right, R);
XMStoreFloat3(&m_up, U);
XMStoreFloat3(&m_look, L);
//Build the matrix
m_view(0,0) = m_right.x;
m_view(1,0) = m_right.y;
m_view(2,0) = m_right.z;
m_view(3,0) = x;
m_view(0,1) = m_up.x;
m_view(1,1) = m_up.y;
m_view(2,1) = m_up.z;
m_view(3,1) = y;
m_view(0,2) = m_look.x;
m_view(1,2) = m_look.y;
m_view(2,2) = m_look.z;
m_view(3,2) = z;
m_view(0,3) = 0.0f;
m_view(1,3) = 0.0f;
m_view(2,3) = 0.0f;
m_view(3,3) = 1.0f;
}
bool bounding_sphere::intersects(const sphere & sphere) const
{
xvector dist(origin - sphere.origin);
float squared = math::point(XMVector3Dot(dist, dist))[axis::x];
float radius_sum = get_radius() + sphere.radius;
return squared <= std::pow(radius_sum, 2);
}
bool bounding_sphere::intersects(const ray & ray) const
{
point m = ray.get_origin() - origin;
point c = point(XMVector3Dot(m, m)) - std::pow(get_radius(), 2);
if (c <= 0.f)
return true;
point b = XMVector3Dot(m, ray.get_direction());
if (b > 0.f)
return false;
float disc = std::pow(b[axis::x], 2) - c[axis::x];
return disc >= 0.f;
}
XMMATRIX Camera::getViewMatrix() const
{
XMMATRIX m_view = XMMatrixIdentity();
XMVECTOR x = -XMVector3Dot(XMLoadFloat4(&v_Right), XMLoadFloat4(&v_Pos));
XMVECTOR y = -XMVector3Dot(XMLoadFloat4(&v_Up), XMLoadFloat4(&v_Pos));
XMVECTOR z = -XMVector3Dot(XMLoadFloat4(&v_Look), XMLoadFloat4(&v_Pos));
m_view(0,0) = v_Right.x; m_view(0,1) = v_Up.x; m_view(0,2) = v_Look.x;
m_view(1,0) = v_Right.y; m_view(1,1) = v_Up.y; m_view(1,2) = v_Look.y;
m_view(2,0) = v_Right.z; m_view(2,1) = v_Up.z; m_view(2,2) = v_Look.z;
m_view(3,0) = XMVectorGetX(x); m_view(3,1) = XMVectorGetY(y); m_view(3,2) = XMVectorGetZ(z);
return m_view;
}
//This is the sphere test from the DX SDK "Touch" sample. Pretty elegant imo.
bool CPUTModel_CPRT::IntersectionTest(const XMVECTOR &rayOrigin, const XMVECTOR &rayDirection, XMVECTOR &modelPosition, BoundingBox &box)
{
modelPosition = XMVectorSet ( m_pTransform.m_pData[0][3] , m_pTransform.m_pData[1][3] , m_pTransform.m_pData[2][3] , m_pTransform.m_pData[3][3] ); //TODO: may have to change this
for(unsigned int i = 0; i < boxes.size(); ++i)
{
box = boxes.at(i);
XMVECTOR rayToSphere = modelPosition - rayOrigin;
//Basic idea is to compare the projection of the casted ray on the ray from the camera position to the sphere position.
//If the the casted ray is sufficiently close to the rayToSphere then box.GetSphereRadiusSquared() - lengthOfDisplacementSquared will be > 0
float pointingTheRightWayMeasure = XMVectorGetW( XMVector3Dot( rayToSphere , rayDirection ) );
float lengthOfDisplacementSquared = XMVectorGetW( XMVector3Dot( rayToSphere , rayToSphere ) );
float magic = pointingTheRightWayMeasure*pointingTheRightWayMeasure - lengthOfDisplacementSquared + box.GetSphereRadiusSquared();
selected = ( magic > 0 ) ? true : false ;
if(selected) return selected;
}
return selected;
}
void D3DCamera::RebuildView()
{
// Keep camera's axes orthogonal to each other and of unit length.
m_LookAt = XMVector3Normalize(m_LookAt);
m_Up = XMVector3Cross(m_LookAt, m_Right);
m_Up = XMVector3Normalize(m_Up);
m_Right = XMVector3Cross(m_Up, m_LookAt);
m_Right = XMVector3Normalize(m_Right);
// Fill in the view matrix entries.
float x = -XMVectorGetX(XMVector3Dot(m_Position, m_Right));
float y = -XMVectorGetX(XMVector3Dot(m_Position, m_Up));
float z = -XMVectorGetX(XMVector3Dot(m_Position, m_LookAt));
XMFLOAT4X4 tempView;
tempView(0, 0) = XMVectorGetX(m_Right);
tempView(1, 0) = XMVectorGetY(m_Right);
tempView(2, 0) = XMVectorGetZ(m_Right);
tempView(3, 0) = x;
tempView(0, 1) = XMVectorGetX(m_Up);
tempView(1, 1) = XMVectorGetY(m_Up);
tempView(2, 1) = XMVectorGetZ(m_Up);
tempView(3, 1) = y;
tempView(0, 2) = XMVectorGetX(m_LookAt);
tempView(1, 2) = XMVectorGetX(m_LookAt);
tempView(2, 2) = XMVectorGetX(m_LookAt);
tempView(3, 2) = z;
tempView(0, 3) = 0.0f;
tempView(1, 3) = 0.0f;
tempView(2, 3) = 0.0f;
tempView(3, 3) = 1.0f;
m_ViewMatrix = XMLoadFloat4x4(&tempView);
// Reconstuct the viewing frustum.
//m_Frustum->ConstructFrustrum( m_zFar, m_ProjMatrix, m_ViewMatrix );
}
XMVECTOR ArcBall::QuatFromBallPoints(XMVECTOR startPoint, XMVECTOR endPoint )
{
XMVECTOR dotVector = XMVector3Dot(startPoint, endPoint);
float fDot = XMVectorGetX(dotVector);
XMVECTOR vPart;
vPart = XMVector3Cross(startPoint, endPoint);
XMVECTOR result = XMVectorSet(XMVectorGetX(vPart), XMVectorGetY(vPart), XMVectorGetZ(vPart), fDot);
return result;
}
void GCamera::buildViewMatrix()
{
XMVECTOR vecLookW = XMVector3Normalize(GMathFV(mLook));
XMVECTOR vecRightW = XMVector3Normalize(XMVector3Cross(GMathFV(mUp), vecLookW));
XMVECTOR vecUpW = XMVector3Normalize(XMVector3Cross(vecLookW, vecRightW));
XMVECTOR vecPosW = GMathFV(mPosition);
float x = -GMathVF(XMVector3Dot(vecPosW, vecRightW)).x;
float y = -GMathVF(XMVector3Dot(vecPosW, vecUpW)).x;
float z = -GMathVF(XMVector3Dot(vecPosW, vecLookW)).x;
mRight = GMathVF(vecRightW);
mUp = GMathVF(vecUpW);
mLook = GMathVF(vecLookW);
mView(0, 0) = mRight.x;
mView(1, 0) = mRight.y;
mView(2, 0) = mRight.z;
mView(3, 0) = x;
mView(0, 1) = mUp.x;
mView(1, 1) = mUp.y;
mView(2, 1) = mUp.z;
mView(3, 1) = y;
mView(0, 2) = mLook.x;
mView(1, 2) = mLook.y;
mView(2, 2) = mLook.z;
mView(3, 2) = z;
mView(0, 3) = 0.0f;
mView(1, 3) = 0.0f;
mView(2, 3) = 0.0f;
mView(3, 3) = 1.0f;
}
inline BOOL checkOctreeInCamFrus(const Engine::Octree *octree, const Engine::PerspCamera *cam)
{
const XMVECTOR camera_position = cam->getCameraPosition();
const XMVECTOR view_vector = cam->getViewVector();
const FLOAT fov_2 = cam->getFOV() / 2;
XMVECTOR position = XMLoadFloat3(&octree->position);
XMVECTOR direction = XMVector3Normalize(position - camera_position);
FLOAT dot = XMVectorGetX(XMVector3Dot(view_vector, direction));
if (acosf(dot) < fov_2) return TRUE;
for (INT i = 0; i < 8; i++)
{
position = XMLoadFloat3(&octree->vertex[i]);
direction = XMVector3Normalize(position - camera_position);
dot = XMVectorGetX(XMVector3Dot(view_vector, direction));
if (acosf(dot) < fov_2) return TRUE;
}
return FALSE;
}
void Camera::UpdateViewMat(){
XMVECTOR r = XMLoadFloat3(&m_right);
XMVECTOR u = XMLoadFloat3(&m_up);
XMVECTOR l = XMLoadFloat3(&m_look);
XMVECTOR p = XMLoadFloat3(&m_position);
l = XMVector3Normalize(l);
u = XMVector3Normalize(XMVector3Cross(l, r));
r = XMVector3Cross(u, l);
float x = -XMVectorGetX(XMVector3Dot(p, r));
float y = -XMVectorGetX(XMVector3Dot(p, u));
float z = -XMVectorGetX(XMVector3Dot(p, l));
XMStoreFloat3(&m_right, r);
XMStoreFloat3(&m_up, u);
XMStoreFloat3(&m_look, l);
XMStoreFloat3(&m_position, p);
m_viewMat(0,0) = m_right.x;
m_viewMat(0,1) = m_up.x;
m_viewMat(0,2) = m_look.x;
m_viewMat(0,3) = 0;
m_viewMat(1,0) = m_right.y;
m_viewMat(1,1) = m_up.y;
m_viewMat(1,2) = m_look.y;
m_viewMat(1,3) = 0;
m_viewMat(2,0) = m_right.z;
m_viewMat(2,1) = m_up.z;
m_viewMat(2,2) = m_look.z;
m_viewMat(2,3) = 0;
m_viewMat(3,0) = x;
m_viewMat(3,1) = y;
m_viewMat(3,2) = z;
m_viewMat(3,3) = 1;
}
float Physics::comp_ray_tri(XMVECTOR const& _pocz, XMVECTOR const& _kier, CXMVECTOR const& _w0, CXMVECTOR const& _w1, CXMVECTOR const& _w2) const {
//------------------WZORY-------------------------
// pkt promienia r(t) = pocz + t*kier
// wekt1 = w1 - w0, wekt2 = w2 - w0
// pkt trojkata T(u,v) = w0 + u*wekt1 + v*wekt2, dla u >= 0, v >= 0, u+v <= 1
// m = pocz - w0
// t = wekt2 * (m x wekt1) / wekt1 * (kier x wekt2)
// u = m * (kier x wekt2) / wekt1 * (kier x wekt2)
// v = kier * (m x wekt1) / wekt1 * (kier x wekt2)
//------------------------------------------------
XMVECTOR _wekt1 = _w1 - _w0;
XMVECTOR _wekt2 = _w2 - _w0;
XMVECTOR _m = _pocz - _w0;
XMVECTOR _kxwekt2 = XMVector3Cross(_kier, _wekt2);
XMVECTOR _mxwekt1 = XMVector3Cross(_m, _wekt1);
XMVECTOR _U = XMVector3Dot(_m, _kxwekt2) / XMVector3Dot(_wekt1, _kxwekt2);
XMVECTOR _V = XMVector3Dot(_kier, _mxwekt1) / XMVector3Dot(_wekt1, _kxwekt2);
float _u = XMVectorGetX(_U);
float _v = XMVectorGetX(_V);
// jeśli kolizja
if(_u >= 0 && _v >= 0 && _u + _v <= 1) {
XMVECTOR _T = XMVector3Dot(_wekt2, _mxwekt1) / XMVector3Dot(_wekt1, _kxwekt2);
return XMVectorGetX(_T);
} else {
return 1000.0f;
}
}
bool bounding_sphere::intersects(const ray & ray, intersection_data & out) const
{
point m = ray.get_origin() - origin;
point b = point(XMVector3Dot(m, ray.get_direction()));
point c = point(XMVector3Dot(m, m)) - std::pow(get_radius(), 2);
if (c > 0.f && b > 0.f)
return false;
float disc = std::pow(b[axis::x], 2) - c[axis::x];
if (disc < 0.f)
return false;
out.distance = -b[axis::x] - std::sqrt(disc);
if (out.distance < 0.f)
out.distance = 0.f;
out.coordinates = ray.get_origin() + point(out.distance) * float3(ray.get_direction());
return true;
}
bool SnapToGravity(_Inout_ Plane* plane, _Inout_opt_ XMFLOAT3* tangent, _In_ const XMFLOAT3& center, float snapToGravityThreshold, _In_ const XMVECTOR& vUp)
{
XMVECTOR vNormal = XMLoadFloat3(&plane->normal);
XMVECTOR vCenter = XMLoadFloat3(¢er);
float dotGravity = XMVectorGetX(XMVector3Dot(vNormal, vUp));
float dotProductThreshold = cosf(XMConvertToRadians(snapToGravityThreshold));
bool isGravityAligned = false;
// check for nearly horizontal planes
if (dotGravity > dotProductThreshold)
{
vNormal = vUp;
}
else if (dotGravity < -dotProductThreshold)
{
vNormal = -vUp;
}
else
{
// check for nearly vertical planes
XMVECTOR vNormalProjectedPerpendicularToGravity = vNormal - (vUp * dotGravity);
float dotPerpendicularToGravity = XMVectorGetX(XMVector3Length(vNormalProjectedPerpendicularToGravity));
if (fabs(dotPerpendicularToGravity) > dotProductThreshold)
{
vNormal = XMVector3Normalize(vNormalProjectedPerpendicularToGravity);
isGravityAligned = true;
}
else
{
// plane should not be snapped, so exit without modifying plane/tangent
return false;
}
}
// update the plane equation
plane->StoreVector(XMPlaneFromPointNormal(vCenter, vNormal));
// update the tangent vector
if (tangent != nullptr)
{
XMVECTOR vTangent = (isGravityAligned)
? XMVector3Cross(vNormal, vUp)
: XMVector3Cross(XMVector3Cross(vNormal, XMLoadFloat3(tangent)), vNormal);
XMStoreFloat3(tangent, XMVector3Normalize(vTangent));
}
return isGravityAligned;
}
E_INTERSECT_STATE IntersectOrientedBoxPlane(const SOrientedBox& obb, const XMFLOAT4& plane)
{
/*
e = hx*|(n*bu)| + hy*|(n*bv)| + hz*|dot(n*bw)|
note: (hx,hy,hz) is the half size of the obb
n is the normal of the plane
bu,bv,bw is the coordinate system axes of the obb
s = dot(c * n) + d;
note: c is the center of the obb
n is the normal of the plane
d is the constant term of the plane
if s - e > 0 then INSIDE
if s + e < 0 then OUTSIDE
else INTERSECTING
*/
XMVECTOR n = XMLoadFloat4(&plane);
XMVECTOR bu = XMLoadFloat3(&obb.Axis[0]);
XMVECTOR bv = XMLoadFloat3(&obb.Axis[1]);
XMVECTOR bw = XMLoadFloat3(&obb.Axis[2]);
XMVECTOR c = XMLoadFloat3(&obb.Center);
f32 e = obb.Extents.x * fabs(XMVectorGetX(XMVector3Dot(n, bu)))
+ obb.Extents.y * fabs(XMVectorGetX(XMVector3Dot(n, bv)))
+ obb.Extents.z * fabs(XMVectorGetX(XMVector3Dot(n, bw)));
f32 s = XMVectorGetX(XMVector3Dot(c, n)) + plane.w;
if (s - e > 0)
return EIS_INSIDE;
if (s + e < 0)
return EIS_OUTSIDE;
return EIS_INTERSECTING;
}
void XM_CALLCONV Camera::UpdateViewMatrix() {
XMVECTOR R = XMLoadFloat3( &right );
XMVECTOR U = XMLoadFloat3( &up );
XMVECTOR L = XMLoadFloat3( &look );
XMVECTOR P = XMLoadFloat3( &pos );
L = XMVector3Normalize( L );
U = XMVector3Normalize( XMVector3Cross( L, R ) );
R = XMVector3Cross( U, L );
float x = -XMVectorGetX( XMVector3Dot( P, R ) );
float y = -XMVectorGetX( XMVector3Dot( P, U ) );
float z = -XMVectorGetX( XMVector3Dot( P, L ) );
XMStoreFloat3( &right, R );
XMStoreFloat3( &up, U );
XMStoreFloat3( &look, L );
view( 0, 0 ) = right.x;
view( 1, 0 ) = right.y;
view( 2, 0 ) = right.z;
view( 3, 0 ) = x;
view( 0, 1 ) = up.x;
view( 1, 1 ) = up.y;
view( 2, 1 ) = up.z;
view( 3, 1 ) = y;
view( 0, 2 ) = look.x;
view( 1, 2 ) = look.y;
view( 2, 2 ) = look.z;
view( 3, 2 ) = z;
view( 0, 3 ) = 0.0f;
view( 1, 3 ) = 0.0f;
view( 2, 3 ) = 0.0f;
view( 3, 3 ) = 1.0f;
}