bool CollisionManager::checkLineOfSightInParentCell(SceneObject* object, Vector3& endPoint) {
ManagedReference<SceneObject*> parent = object->getParent();
if (parent == NULL || !parent->isCellObject())
return true;
CellObject* cell = cast<CellObject*>( parent.get());
SharedObjectTemplate* objectTemplate = parent->getRootParent().get()->getObjectTemplate();
PortalLayout* portalLayout = objectTemplate->getPortalLayout();
MeshAppearanceTemplate* appearanceMesh = NULL;
if (portalLayout == NULL)
return true;
try {
appearanceMesh = portalLayout->getMeshAppearanceTemplate(cell->getCellNumber());
} catch (Exception& e) {
return true;
}
if (appearanceMesh == NULL) {
//info("null appearance mesh ");
return true;
}
AABBTree* aabbTree = appearanceMesh->getAABBTree();
if (aabbTree == NULL)
return true;
//switching Y<->Z, adding 0.1 to account floor
Vector3 startPoint = object->getPosition();
startPoint.set(startPoint.getX(), startPoint.getY(), startPoint.getZ() + 0.1f);
endPoint.set(endPoint.getX(), endPoint.getY(), endPoint.getZ() + 0.1f);
Vector3 dir = endPoint - startPoint;
dir.normalize();
float distance = endPoint.distanceTo(startPoint);
float intersectionDistance;
Ray ray(startPoint, dir);
Triangle* triangle = NULL;
//nothing in the middle
if (aabbTree->intersects(ray, distance, intersectionDistance, triangle, true))
return false;
Ray ray2(endPoint, Vector3(0, -1, 0));
//check if we are in the cell with dir (0, -1, 0)
if (!aabbTree->intersects(ray2, 64000.f, intersectionDistance, triangle, true))
return false;
return true;
}
TEST(CubeTest, HasIntersection) {
Cube cube;
Ray ray1(Point3(0, 0, 2), Vector3(0, 0, -1));
EXPECT_TRUE(cube.HasIntersection(ray1, 2));
EXPECT_FALSE(cube.HasIntersection(ray1, 0.5));
Ray ray2(Point3(0, 0, 2), Vector3(0, 0, 1));
EXPECT_FALSE(cube.HasIntersection(ray2, 20));
}
void Ray2Tests::testBasics()
{
Ray2 ray1(Point2(2.0f, 0.0f), Vector2(2.0f, 0.0f));
Ray2 ray2(Point2(1.0f, 1.0f), Vector2(2.0f, 2.0f));
CPTAssert(ray1.origin() == Point2(2.0f, 0.0f));
CPTAssert(ray1.direction() == Point2(1.0f, 0.0f));
CPTAssert(ray2.origin() == Point2(1.0f, 1.0f));
CPTAssert(ray2.direction() == Point2(1.0f, 1.0f).unit());
}
TEST(RayTest, equality)
{
Geom::Point3D origin(0, 0, 0);
Geom::Vector3D direction(1, 1, 1);
Geom::Ray ray1(origin, direction);
Geom::Ray ray2(origin, direction);
EXPECT_EQ(ray1, ray2);
Geom::Ray ray3(origin, Geom::Vector3D(2, 3, 2));
EXPECT_NE(ray1, ray3);
}
void
LPESimplify::drawHandleLine(Geom::Point p,Geom::Point p2)
{
Geom::Path path;
path.start( p );
double diameter = radius_helper_nodes;
if(helper_size > 0 && Geom::distance(p,p2) > (diameter * 0.35)) {
Geom::Ray ray2(p, p2);
p2 = p2 - Geom::Point::polar(ray2.angle(),(diameter * 0.35));
}
path.appendNew<Geom::LineSegment>( p2 );
hp.push_back(path);
}
void ocTriTree::intersect(const z3D::Core::Ray& ray, vector<int32_t>& tris)
{
IceMaths::Ray ray2(Point(&ray.origin().x), Point(&ray.direction().x));
_pimpl.get().ray_collider_dest.Reset();
bool okay = _pimpl.get().ray_collider.Collide(ray2, _pimpl.get().model);
if(!okay)
return;
size_t count = (size_t)_pimpl.get().ray_collider_dest.GetNbFaces();
const Opcode::CollisionFace* face_iter = _pimpl.get().ray_collider_dest.GetFaces();
for(size_t i = 0; i < count; ++i, ++face_iter)
tris.push_back(face_iter->mFaceID);
}
void tst_QRay3D::compare()
{
Qt3DRender::RayCasting::QRay3D ray1(QVector3D(10, 20, 30), QVector3D(-3, -4, -5));
Qt3DRender::RayCasting::QRay3D ray2(QVector3D(10, 20, 30), QVector3D(1.5f, 2.0f, 2.5f));
Qt3DRender::RayCasting::QRay3D ray3(QVector3D(0, 20, 30), QVector3D(-3, -4, -5));
QVERIFY(ray1 == ray1);
QVERIFY(!(ray1 != ray1));
QVERIFY(qFuzzyCompare(ray1, ray1));
QVERIFY(ray1 != ray2);
QVERIFY(!(ray1 == ray2));
QVERIFY(!qFuzzyCompare(ray1, ray2));
QVERIFY(ray1 != ray3);
QVERIFY(!(ray1 == ray3));
QVERIFY(!qFuzzyCompare(ray1, ray3));
}
int main(int argc, char *argv[]) {
Vector orig(0,0,0);
double radius = 1;
Ray ray1(Vector(-2, 1, 0), Vector(1,0,0));
Ray ray2(Vector(-2, 1, 0), Vector(-1,0,0));
Ray ray3(Vector(0, 0.5f, 0), Vector(1,0,0));
Sphere sphere(orig, radius);
ASSERT(sphere.intersect(ray1), true, "No intersection");
ASSERT(sphere.intersect(ray2), false, "Error in intersection");
ASSERT(sphere.intersect(ray3), false, "Origin is inside the Sphere");
REPORT();
return ERROR_COUNT;
}
TEST(CubeTest, FindIntersection) {
Cube cube;
double t;
Point3 point;
Vector3 normal;
Ray ray1(Point3(0, 0, 2), Vector3(0, 0, -1));
EXPECT_TRUE(cube.FindIntersection(ray1, &t, &point, &normal));
EXPECT_EQ(1, t);
EXPECT_EQ(0, point[0]);
EXPECT_EQ(0, point[1]);
EXPECT_EQ(1, point[2]);
EXPECT_EQ(0, normal[0]);
EXPECT_EQ(0, normal[1]);
EXPECT_EQ(1, normal[2]);
Ray ray2(Point3(0, 0, 2), Vector3(0, 0, 1));
EXPECT_FALSE(cube.FindIntersection(ray2, &t, &point, &normal));
}
TEST(TestRaycast, TestPlaneIntersection) {
FTRaycast ray(glm::vec3(0, 2, 0), glm::vec3(1, 3, 1));
// Test Standard
glm::vec3 intersection;
EXPECT_TRUE(ray.intersectsPlane(glm::vec3(2,1,-4), glm::vec3(3,2,1), intersection));
EXPECT_EQ(intersection, glm::vec3(2, 8, 2));
// Test parrallel no intersection
intersection = glm::vec3(23, 5, 78);
FTRaycast ray2(glm::vec3(1, 4, 0), glm::vec3(1, 2, 1));
EXPECT_FALSE(ray2.intersectsPlane(glm::vec3(2, 1, -4), glm::vec3(3, 2, 1), intersection));
EXPECT_EQ(intersection, glm::vec3(23, 5, 78));
// Test parallel with intersection
FTRaycast ray3(glm::vec3(2, 8, 2), glm::vec3(1, 2, 1));
EXPECT_TRUE(ray3.intersectsPlane(glm::vec3(2, 1, -4), glm::vec3(3, 2, 1), intersection));
EXPECT_EQ(intersection, glm::vec3(3,2,1));
}
//---------------------------------------------------------------------
Vec3 Scene::ComputeFirstBounceIllumination(const Ray& ray, KdTreeStats& kdTreeStats, ShadingStats& shadingStats) const {
const int nSamples = 128;
const Object* obj = m_kdtree.Intersect(ray, kdTreeStats);
if (!obj) {
return Vec3(0.f);
}
Vec3 p = ray(ray.tmax);
Vec3 n = (p - obj->center).GetNormalized();
Vec3 t1, t2;
BuildCoordSystem(n, t1, t2);
Vec3 radiance = Vec3(0.f);
for (int i = 0; i < nSamples; i++) {
float u1 = genrand_float();
float u2 = genrand_float();
Vec3 localDir = CosineSampleHemisphere(u1, u2);
Vec3 wi = localDir.x * t1 + localDir.y * t2 + localDir.z * n;
Ray ray2(p, wi);
radiance += ComputeDirectIllumination(ray2, kdTreeStats, shadingStats);
}
radiance *= obj->albedo / nSamples;
return radiance;
}
void tst_QRay3D::transform()
{
QFETCH(QVector3D, point);
QFETCH(QVector3D, direction);
QMatrix4x4 m;
m.translate(-1.0f, 2.5f, 5.0f);
m.rotate(45.0f, 1.0f, 1.0f, 1.0f);
m.scale(23.5f);
Qt3DRender::RayCasting::QRay3D ray1(point, direction);
Qt3DRender::RayCasting::QRay3D ray2(ray1);
Qt3DRender::RayCasting::QRay3D ray3;
ray1.transform(m);
ray3 = ray2.transformed(m);
QVERIFY(fuzzyCompare(ray1.origin(), ray3.origin()));
QVERIFY(fuzzyCompare(ray1.direction(), ray3.direction()));
QVERIFY(fuzzyCompare(ray1.origin(), m * point));
QVERIFY(fuzzyCompare(ray1.direction(), m.mapVector(direction)));
}
void tst_QRay3D::transform()
{
QFETCH(QVector3D, point);
QFETCH(QVector3D, direction);
QMatrix4x4 m;
m.translate(-1.0f, 2.5f, 5.0f);
m.rotate(45.0f, 1.0f, 1.0f, 1.0f);
m.scale(23.5f);
QRay3D ray1(point, direction);
QRay3D ray2(ray1);
QRay3D ray3;
ray1.transform(m);
ray3 = ray2.transformed(m);
QCOMPARE(ray1.origin(), ray3.origin());
QCOMPARE(ray1.direction(), ray3.direction());
QCOMPARE(ray1.origin(), m * point);
QCOMPARE(ray1.direction(), m.mapVector(direction));
}
Vec3f RayTracer::traceRay(Ray &ray, float tmin, int bounces, float weight,
float indexOfRefraction, Hit &hit) const
{
//printf("当前已有光线：\n");
//RayTree::Print();
Vec3f canswer;
if (bounces > max_bounces)
return Vec3f(0.0f, 0.0f, 0.0f);
Camera *camera = sceneParser->getCamera();
Group *group = sceneParser->getGroup();
int num_lights = sceneParser->getNumLights();
Vec3f cambient = sceneParser->getAmbientLight();
//原来最后是这里出了问题，一旦碰到有转换的物体，那么hit带出来的值是
//转换后的视线看到的值，而非本来视线看到的值
//所以解决方案是：距离不变，根据距离重新计算焦点
if (group->intersect(ray, hit, tmin))//撞到了
{
if (is_view_ray)
{
RayTree::SetMainSegment(ray, 0, hit.getT());
is_view_ray = false;
}
Vec3f cobject = hit.getMaterial()->getDiffuseColor();
Vec3f hitPoint = hit.getIntersectionPoint();
//环境光部分
canswer = cambient * cobject;
Vec3f clight;//光的颜色
Vec3f light_dir;//指向光的方向
Vec3f normal_dir = hit.getNormal();//交点法线向量
float distolight;//距离光源的距离
for (int i = 0; i < num_lights; i++)
{
Light *light = sceneParser->getLight(i);
//light_dir : the direction to the light
// 该方法用于获得指向光的方向，光的颜色，和到达光的距离
// 第一个参数传递的是焦点信息
light->getIllumination(hitPoint, light_dir, clight, distolight);
Ray ray2(hitPoint, light_dir);
Vec3f init_normal(0, 0, 0);
Hit hit2(distolight, NULL, init_normal);
//阴影检测
if (shadow)
{
if (group->intersect(ray2, hit2, tmin)){
RayTree::AddShadowSegment(ray2, 0, hit2.getT());
continue;
}
RayTree::AddShadowSegment(ray2, 0, hit2.getT());
}
//cpixel = cambient * cobject + SUMi [ clamped(Li . N) * clighti * cobject ]
//返回局部光
canswer = canswer + hit.getMaterial()->Shade(ray, hit, light_dir, clight);
}
//printf("当前已有光线：\n");
//RayTree::Print();
//反射光
Material *material = hit.getMaterial();
Vec3f rc = material->getReflectiveColor();
if (rc.r() > 0 && rc.g() > 0 && rc.b() > 0)
{
Vec3f mirrorDir;
Vec3f incoming = ray.getDirection();
mirrorDir = mirrorDirection(normal_dir, incoming);
// The ray weight is simply multiplied by the magnitude of the reflected color
Ray ray3(hitPoint, mirrorDir);
Vec3f init_normal(0, 0, 0);
Hit hit3(distolight, NULL, init_normal);
//忘记乘以本身的反射光系数%…………
canswer += traceRay(ray3, tmin, bounces + 1, weight*rc.Length(), indexOfRefraction, hit3)*rc;
if (bounces + 1 < max_bounces)
RayTree::AddReflectedSegment(ray3, 0, hit3.getT());
}
//printf("当前已有光线：\n");
//RayTree::Print();
//从这里开始还都存在问题！！！！！
//折射光
Vec3f transmitted;
Vec3f tc = material->getTransparentColor();
float index = material->getIndexOfRefraction();
if (tc.r() > 0 && tc.g() > 0 && tc.b() > 0)
{
Vec3f init_normal(0, 0, 0);
Hit hit4(distolight, NULL, init_normal);
//在判断折射光的存在之后，要考虑光线的位置：物体内还是物体外
//这里根据normal和incoming的点积来判断
Vec3f incoming = ray.getDirection();
float judge = normal_dir.Dot3(incoming);
if (judge < 0)//光线在外
{
if (transmittedDirection(normal_dir, incoming, 1, index, transmitted))
{
Ray ray4(hitPoint, transmitted);
canswer += traceRay(ray4, tmin, bounces+1, weight*rc.Length(), index, hit4)*tc;
RayTree::AddTransmittedSegment(ray4, 0, hit4.getT());
}
}
else//光线在内
{
normal_dir.Negate();
if (transmittedDirection(normal_dir, incoming, index, 1, transmitted))
{
Ray ray4(hitPoint, transmitted);
canswer += traceRay(ray4, tmin, bounces+1, weight*rc.Length(), 1, hit4)*tc;
RayTree::AddTransmittedSegment(ray4, 0, hit4.getT());
}
}
}
//printf("当前已有光线：\n");
//RayTree::Print();
}
else
canswer = sceneParser->getBackgroundColor();
canswer.Clamp();
return canswer;
}
bool smooth_curve(const BVH *bvh, const VectorXu &E2E, std::vector<CurvePoint> &curve, bool watertight) {
const MatrixXu &F = *bvh->F();
const MatrixXf &V = *bvh->V(), &N = *bvh->N();
cout << endl;
std::vector<CurvePoint> curve_new;
std::vector<Float> weight;
std::vector<uint32_t> path;
cout << "Input: " << curve.size() << " vertices" << endl;
for (int it=0;; ++it) {
if (curve.size() < 2)
return false;
for (uint32_t it2=0; it2<curve.size(); ++it2) {
curve_new.clear();
curve_new.push_back(curve[0]);
for (uint32_t i=1; i<curve.size()-1; ++i) {
Vector3f p_new = 0.5f * (curve[i-1].p + curve[i+1].p);
Vector3f n_new = (curve[i-1].n + curve[i+1].n).normalized();
Float maxlength = (curve[i-1].p - curve[i+1].p).norm()*2;
Ray ray1(p_new, n_new, 0, maxlength);
Ray ray2(p_new, -n_new, 0, maxlength);
uint32_t idx1 = 0, idx2 = 0;
Float t1 = 0, t2 = 0;
Vector2f uv1, uv2;
bool hit1 = bvh->rayIntersect(ray1, idx1, t1, &uv1);
bool hit2 = bvh->rayIntersect(ray2, idx2, t2, &uv2);
if (!hit1 && !hit2)
continue;
CurvePoint pt;
if (t1 < t2) {
pt.p = ray1(t1);
pt.f = idx1;
pt.n = ((1 - uv1.sum()) * N.col(F(0, idx1)) + uv1.x() * N.col(F(1, idx1)) + uv1.y() * N.col(F(2, idx1))).normalized();
} else {
pt.p = ray2(t2);
pt.f = idx2;
pt.n = ((1 - uv2.sum()) * N.col(F(0, idx2)) + uv2.x() * N.col(F(1, idx2)) + uv2.y() * N.col(F(2, idx2))).normalized();
}
curve_new.push_back(pt);
}
curve_new.push_back(curve[curve.size()-1]);
curve.swap(curve_new);
}
if (!watertight && it == 1)
break;
curve_new.clear();
curve_new.push_back(curve[0]);
for (uint32_t i=1; i<curve.size(); ++i) {
if (!astar(F, E2E, V, curve[i-1].f, curve[i].f, path))
return false;
auto closest = [](const Vector3f &p0, const Vector3f &p1, const Vector3f &target) -> Vector3f {
Vector3f d = (p1-p0).normalized();
return p0 + d * std::min(std::max((target-p0).dot(d), 0.0f), (p0-p1).norm());
};
if (path.size() > 2) {
uint32_t base = curve_new.size() - 1;
for (uint32_t j=1; j<path.size()-1; ++j) {
uint32_t f = path[j];
Vector3f p0 = V.col(F(0, f)), p1 = V.col(F(1, f)), p2 = V.col(F(2, f));
CurvePoint pt2;
pt2.f = f;
pt2.n = (p1-p0).cross(p2-p0).normalized();
pt2.p = (p0+p1+p2) * (1.0f / 3.0f);
curve_new.push_back(pt2);
}
curve_new.push_back(curve[i]);
for (uint32_t q=1; q<path.size()-1; ++q) {
for (uint32_t j=1; j<path.size()-1; ++j) {
Float bestDist1 = std::numeric_limits<Float>::infinity();
Float bestDist2 = std::numeric_limits<Float>::infinity();
Vector3f bestPt1 = Vector3f::Zero(), bestPt2 = Vector3f::Zero();
uint32_t f = path[j];
for (uint32_t k=0; k<3; ++k) {
Vector3f closest1 = closest(V.col(F(k, f)), V.col(F((k + 1) % 3, f)), curve_new[base+j-1].p);
Vector3f closest2 = closest(V.col(F(k, f)), V.col(F((k + 1) % 3, f)), curve_new[base+j+1].p);
Float dist1 = (closest1 - curve_new[base+j-1].p).norm();
Float dist2 = (closest2 - curve_new[base+j+1].p).norm();
if (dist1 < bestDist1) { bestDist1 = dist1; bestPt1 = closest1; }
if (dist2 < bestDist2) { bestDist2 = dist2; bestPt2 = closest2; }
}
curve_new[base+j].p = (bestPt1 + bestPt2) * 0.5f;
}
}
} else {
curve_new.push_back(curve[i]);
}
}
curve.swap(curve_new);
curve_new.clear();
curve_new.push_back(curve[0]);
weight.clear();
weight.push_back(1.0f);
for (uint32_t i=0; i<curve.size(); ++i) {
auto &cur = curve_new[curve_new.size()-1];
auto &cur_weight = weight[weight.size()-1];
if (cur.f == curve[i].f) {
cur.p += curve[i].p;
cur.n += curve[i].n;
cur_weight += 1;
} else {
curve_new.push_back(curve[i]);
weight.push_back(1.f);
}
}
for (uint32_t i=0; i<curve_new.size(); ++i) {
curve_new[i].p /= weight[i];
curve_new[i].n.normalize();
}
curve_new[0] = curve[0];
curve_new[curve_new.size()-1] = curve[curve.size()-1];
if (curve_new.size() < 2 || curve_new[0].f == curve_new[curve_new.size()-1].f)
return false;
curve_new.swap(curve);
if (it > 2)
break;
}
cout << "Smoothed curve: " << curve.size() << " vertices" << endl;
return true;
}
void
LPESimplify::generateHelperPathAndSmooth(Geom::PathVector &result)
{
if(steps < 1) {
return;
}
Geom::PathVector tmp_path;
Geom::CubicBezier const *cubic = NULL;
for (Geom::PathVector::iterator path_it = result.begin(); path_it != result.end(); ++path_it) {
if (path_it->empty()) {
continue;
}
Geom::Path::iterator curve_it1 = path_it->begin(); // incoming curve
Geom::Path::iterator curve_it2 = ++(path_it->begin());// outgoing curve
Geom::Path::iterator curve_endit = path_it->end_default(); // this determines when the loop has to stop
SPCurve *nCurve = new SPCurve();
if (path_it->closed()) {
// if the path is closed, maybe we have to stop a bit earlier because the
// closing line segment has zerolength.
const Geom::Curve &closingline =
path_it->back_closed(); // the closing line segment is always of type
// Geom::LineSegment.
if (are_near(closingline.initialPoint(), closingline.finalPoint())) {
// closingline.isDegenerate() did not work, because it only checks for
// *exact* zero length, which goes wrong for relative coordinates and
// rounding errors...
// the closing line segment has zero-length. So stop before that one!
curve_endit = path_it->end_open();
}
}
if(helper_size > 0) {
drawNode(curve_it1->initialPoint());
}
nCurve->moveto(curve_it1->initialPoint());
Geom::Point start = Geom::Point(0,0);
while (curve_it1 != curve_endit) {
cubic = dynamic_cast<Geom::CubicBezier const *>(&*curve_it1);
Geom::Point point_at1 = curve_it1->initialPoint();
Geom::Point point_at2 = curve_it1->finalPoint();
Geom::Point point_at3 = curve_it1->finalPoint();
Geom::Point point_at4 = curve_it1->finalPoint();
if(start == Geom::Point(0,0)) {
start = point_at1;
}
if (cubic) {
point_at1 = (*cubic)[1];
point_at2 = (*cubic)[2];
}
if(path_it->closed() && curve_it2 == curve_endit) {
point_at4 = start;
}
if(curve_it2 != curve_endit) {
cubic = dynamic_cast<Geom::CubicBezier const *>(&*curve_it2);
if (cubic) {
point_at4 = (*cubic)[1];
}
}
Geom::Ray ray1(point_at2, point_at3);
Geom::Ray ray2(point_at3, point_at4);
double angle1 = Geom::deg_from_rad(ray1.angle());
double angle2 = Geom::deg_from_rad(ray2.angle());
if((smooth_angles >= std::abs(angle2 - angle1)) && !are_near(point_at4,point_at3) && !are_near(point_at2,point_at3)) {
double dist = Geom::distance(point_at2,point_at3);
Geom::Angle angleFixed = ray2.angle();
angleFixed -= Geom::Angle::from_degrees(180.0);
point_at2 = Geom::Point::polar(angleFixed, dist) + point_at3;
}
nCurve->curveto(point_at1, point_at2, curve_it1->finalPoint());
cubic = dynamic_cast<Geom::CubicBezier const *>(nCurve->last_segment());
if (cubic) {
point_at1 = (*cubic)[1];
point_at2 = (*cubic)[2];
if(helper_size > 0) {
if(!are_near((*cubic)[0],(*cubic)[1])) {
drawHandle((*cubic)[1]);
drawHandleLine((*cubic)[0],(*cubic)[1]);
}
if(!are_near((*cubic)[3],(*cubic)[2])) {
drawHandle((*cubic)[2]);
drawHandleLine((*cubic)[3],(*cubic)[2]);
}
}
}
if(helper_size > 0) {
drawNode(curve_it1->finalPoint());
}
++curve_it1;
++curve_it2;
}
if (path_it->closed()) {
nCurve->closepath_current();
}
tmp_path.push_back(nCurve->get_pathvector()[0]);
nCurve->reset();
delete nCurve;
}
result = tmp_path;
}
