private static bool addSupport(Vector3 direction, RayPyramid shape1, EnvironmentObject shape2)
{
Vector3 newVertex = calculateSupport(direction, shape1, shape2);
verticies.Add(newVertex);
return(Vector3.Dot(direction, newVertex) >= 0);
}
private static Vector3 calculateSupport(Vector3 direction, RayPyramid shape1, EnvironmentObject shape2)
{
Vector3 newVertex = shape1.GetSupportingPoint(direction);
newVertex -= shape2.GetSupportPoint(-1 * direction);
return(newVertex);
}
public static bool CheckCollision(RayPyramid shape1, EnvironmentObject shape2)
{
verticies = new List <Vector3>();
direction = shape2.GetCenter() - shape1.GetCenter();
int result = 0;
int count = 0;
while (result == 0 && count < 100)
{
result = evolveSimplex(shape1, shape2);
count++;
}
return(result > 0);
}
private static int evolveSimplex(RayPyramid shape1, EnvironmentObject shape2)
{
switch (verticies.Count)
{
case 0:
direction = shape2.GetCenter() - shape1.GetCenter();
break;
case 1:
direction *= -1;
break;
case 2:
//ab is line segment of the two points already gotten
Vector3 ab = verticies[1] - verticies[0];
//a0 is from the first point to the origin
Vector3 a0 = verticies[0] * -1;
Vector3 temp = Vector3.Cross(ab, a0);
//Vector3 temp = Vector3.Cross(a0, ab);
direction = Vector3.Cross(temp, ab);
//direction = Vector3.Cross(ab, temp);
break;
case 3:
Vector3 ac = verticies[2] - verticies[0];
ab = verticies[1] - verticies[0];
direction = Vector3.Cross(ac, ab);
a0 = verticies[0] * -1;
if (Vector3.Dot(direction, a0) < 0)
{
direction *= -1;
}
break;
case 4:
Vector3 da = verticies[3] - verticies[0];
Vector3 db = verticies[3] - verticies[1];
Vector3 dc = verticies[3] - verticies[2];
Vector3 d0 = verticies[3] * -1;
Vector3 abdNorm = Vector3.Cross(da, db);
Vector3 bcdNorm = Vector3.Cross(db, dc);
Vector3 cadNorm = Vector3.Cross(dc, da);
if (Vector3.Dot(abdNorm, d0) > 0)
{
verticies.Remove(verticies[2]);
direction = abdNorm;
}
else if (Vector3.Dot(bcdNorm, d0) > 0)
{
verticies.Remove(verticies[0]);
direction = bcdNorm;
}
else if (Vector3.Dot(cadNorm, d0) > 0)
{
verticies.Remove(verticies[1]);
direction = cadNorm;
}
else
{
return(1);
}
break;
}
return(addSupport(direction, shape1, shape2) ? 0 : -1);
}
public RaytracingCamera(string Name, Vector3 Position, Vector3 Direction, float viewWidth, float viewHeight, float sensitivity, int horizontalResolution, int verticalResolution, int pyramidResolution, int viewDistance)
{
this.Name = Name;
this.Position = Position;
this.Direction = Direction;
HorizontalFOV = viewWidth;
VerticalFOV = viewHeight;
this.sensitivity = sensitivity;
FrameWidth = horizontalResolution;
FrameHeight = verticalResolution;
PyramidResolution = pyramidResolution;
ViewDistance = viewDistance;
rayPyramids = new RayPyramid[pyramidResolution, pyramidResolution];
//Start at the top left of the field of view
float startingHorizontalAngle = -viewWidth / 2;
float startingVerticalAngle = -viewHeight / 2;
float pyramidHorizontalAngleIncrement = viewWidth / (pyramidResolution + 1);
float pyramidVerticalAngleIncrement = viewHeight / (pyramidResolution + 1);
//first we need to initialize all the ray pyramids
for (int i = 0; i < pyramidResolution; ++i)
{
float verticalAngle = startingVerticalAngle + (pyramidVerticalAngleIncrement * i);
float nextVerticalAngle = startingVerticalAngle + (pyramidVerticalAngleIncrement * (i + 1));
for (int j = 0; j < pyramidResolution; ++j)
{
float horizontalAngle = startingHorizontalAngle + (pyramidHorizontalAngleIncrement * j);
float nextHorizontalAngle = startingHorizontalAngle + (pyramidHorizontalAngleIncrement * (j + 1));
Vector3 point1 = Vector3.Multiply(ViewDistance, Direction);
//point1 = VectorMath.RotateVector3Z(point1, verticalAngle);
//point1 = VectorMath.RotateVector3Y(point1, horizontalAngle);
Vector3 point2 = Vector3.Multiply(ViewDistance, Direction);
//point2 = VectorMath.RotateVector3Z(point2, verticalAngle);
//point2 = VectorMath.RotateVector3Y(point2, nextHorizontalAngle);
Vector3 point3 = Vector3.Multiply(ViewDistance, Direction);
//point3 = VectorMath.RotateVector3Z(point3, nextVerticalAngle);
//point3 = VectorMath.RotateVector3Y(point3, horizontalAngle);
Vector3 point4 = Vector3.Multiply(ViewDistance, Direction);
//point4 = VectorMath.RotateVector3Z(point4, nextVerticalAngle);
//point4 = VectorMath.RotateVector3Y(point4, nextHorizontalAngle);
rayPyramids[j, i] = new RayPyramid(Position, point1, point2, point3, point4);
}
}
float horizontalAngleIncrement = viewWidth / FrameWidth;
float verticalAngleIncrement = viewHeight / FrameHeight;
for (int i = 0; i < FrameHeight; ++i)
{
float verticalAngle = startingVerticalAngle + (verticalAngleIncrement * i);
for (int j = 0; j < FrameWidth; ++j)
{
float horizontalAngle = startingHorizontalAngle + (horizontalAngleIncrement * j);
Ray newRay = new Ray(Position, Direction, Color.Black);
newRay.RotateZ(verticalAngle);
newRay.RotateY(horizontalAngle);
int rayPyramidHorizontalIndex = (int)(j / (FrameWidth / pyramidResolution));
int rayPyramidVerticalIndex = (int)(i / (FrameHeight / pyramidResolution));
rayPyramids[rayPyramidHorizontalIndex, rayPyramidVerticalIndex].RayList.Add(newRay);
}
}
AngleFromZ = (float)Math.PI / 2;
//at this point direction is (1, 0, 0);
//must rotate the vectors to assume the new direction
//float dirXAngle = (Direction.X) / (float)Math.Sqrt(Math.Pow(Direction.X, 2) + Math.Pow(Direction.Y, 2) + Math.Pow(Direction.Z, 2));
}
